File content as of revision 0:f492ec86159e:

#include "mbed.h"
#include "encoder.h"
#include "MODSERIAL.h"

/*******************************************************************************
*                                                                              *
*   Code can be found at http://mbed.org/users/vsluiter/code/BMT-K9-Regelaar/  *
*                                                                              *
********************************************************************************/

/** keep_in_range -> float in, and keep_in_range if less than min, or larger than max **/
void keep_in_range(float * in, float min, float max);

/** variable to show when a new loop can be started*/
/** volatile means that it can be changed in an    */
/** interrupt routine, and that that change is vis-*/
/** ible in the main loop. */

volatile bool looptimerflag;

/** function called by Ticker "looptimer"     */
/** variable 'looptimerflag' is set to 'true' */
/** each time the looptimer expires.          */
void setlooptimerflag(void)
{
    looptimerflag = true;
}

int main()
{
    //LOCAL VARIABLES
    /*Potmeter input*/
    AnalogIn potmeterA(PTC2);
    AnalogIn potmeterB(PTB2);
    /* Encoder, using my encoder library */
    /* First pin should be PTDx or PTAx  */
    /* because those pins can be used as */
    /* InterruptIn                       */
    Encoder motorA(PTD4,PTC8);
    Encoder motorB(PTD0,PTD2);
    /* MODSERIAL to get non-blocking Serial*/
    MODSERIAL pc(USBTX,USBRX);
    /* PWM control to motor */
    PwmOut pwm_motorA(PTA12);
    PwmOut pwm_motorB(PTA5);
    /* Direction pin */
    DigitalOut motordirA(PTD3);
    DigitalOut motordirB(PTD1);
    /* variable to store setpoint in */
    float setpointA;
    float setpointB;
    /* variable to store pwm value in*/
    float pwm_to_motorA;
    float pwm_to_motorB;
    int32_t beginpositiemotorA_t0;
    int32_t beginpositiemotorB_t0;
    //START OF CODE

    /*Set the baudrate (use this number in RealTerm too! */
    pc.baud(921600);


// wil dat 20 seconden de motor rechtsom gaat draaien
    motordirA.write(0);
    motordirB.write(0);
    pwm_motorA.write(.1);
    pwm_motorB.write(.1);
    
    do
    {
     //wacht
     //schuif t0 / t1
     lees encoder
     
    }while(posititie ongelijk);
            
    
    
    
    
    /*Create a ticker, and let it call the     */
    /*function 'setlooptimerflag' every 0.01s  */
    Ticker looptimer;
    looptimer.attach(setlooptimerflag,0.01);

        //INFINITE LOOP
    while(1) {
        /* Wait until looptimer flag is true. */
        /* '!=' means not-is-equal            */
        while(looptimerflag != true);
        /* Clear the looptimerflag, otherwise */
        /* the program would simply continue  */
        /* without waitingin the next iteration*/
        looptimerflag = false;

        /* Read potmeter value, apply some math */
        /* to get useful setpoint value         */
        setpointA = (potmeterA.read()-0.5)*(631/2);
        setpointB = (potmeterB.read()-0.5)*(871/2);  //1000 dan rotatie langzamer maken als lager maakt.

        /* Print setpoint and current position to serial terminal*/
        pc.printf("s: %f, %d ", setpointA, motorA.getPosition());
        pc.printf("s: %f, %d \n\r", setpointB, motorB.getPosition());

        /* This is a P-action! calculate error, multiply with gain, and store in pwm_to_motor */
        pwm_to_motorA = (setpointA - motorA.getPosition())*.001;
        pwm_to_motorB = (setpointB - motorB.getPosition())*.001;
        /* Coerce pwm value if outside range          */
        /* Not strictly needed here, but useful       */
        /* if doing other calculations with pwm value */
        keep_in_range(&pwm_to_motorA, -1,1);
        keep_in_range(&pwm_to_motorB, -1,1);

        /* Control the motor direction pin. based on   */
        /* the sign of your pwm value.      If your    */
        /* motor keeps spinning when running this code */
        /* you probably need to swap the motor wires,  */
        /* or swap the 'write(1)' and 'write(0)' below */
        if(pwm_to_motorA > 0)
            motordirA.write(1);
        else
            motordirA.write(0);
        if(pwm_to_motorB > 0)
            motordirB.write(1);
        else
            motordirB.write(0);


        //WRITE VALUE TO MOTOR
        /* Take the absolute value of the PWM to send */
        /* to the motor. */
        pwm_motorA.write(abs(pwm_to_motorA));
        pwm_motorB.write(abs(pwm_to_motorB));
    }
}


//coerces value 'in' to min or max when exceeding those values
//if you'd like to understand the statement below take a google for
//'ternary operators'.
void keep_in_range(float * in, float min, float max)
{
*in > min ? *in < max? : *in = max: *in = min;
}