File content as of revision 8:80cb1f5d561e:

#include "mbed.h"
#include "HIDScope.h"
#include "encoder.h"

// Define the HIDScope and Ticker object
HIDScope    scope(1);
Ticker      scopeTimer;

// Define Encoder

Encoder encoder1(PTD0,PTC9,true);
Serial pc(USBTX,USBRX);

// Define Potmeter
AnalogIn potmeter1(PTB0);

////// P Motor Controller

// Controller gain
const double motorP_Kp=2.500 ;
const double Convert_volt_to_position=0.00300 ;

// Reusable P controller (FUNCTIE)
double P (double error, const double Kp)
    {
            return Kp*error;
    }


// Error measurement and apply the output to the plant
double motorP_Controller()
    {
        double reference_position = potmeter1.read();
        double position = Convert_volt_to_position*encoder1.getPosition();
        return P(reference_position-position, motorP_Kp);
    }
    
int main()
    {
        motorP = motorP_Controller();
        motorP.attach(&motorP_Controller,0.01f); //100Hz
        while(1){}
    }

// Read the analog input
float triangle_signal = 2.05;
 
// The data read and send function
void scopeSend()
{
    scope.set(0,motorP);
    scope.send();
}
 
int scopeattach()
{
    // Attach the data read and send function at 100 Hz
    scopeTimer.attach_us(&scopeSend, 2e4);   
    
    while(1) { }
}