File content as of revision 2:146ff0747375:

#include "mbed.h"
#include "mycontroller.h"
#include "MPU6050.h"

DigitalOut myled(LED1);
Serial pc(USBTX, USBRX); 
Ticker filter; 
Ticker toggler1; 
MPU6050 mpu6050;  

PwmOut pwm1A(PA_10);
PwmOut pwm1B(PA_6);
PwmOut pwm1C(PB_6);
DigitalOut enable1A(PA_7);
DigitalOut enable1B(PA_9);

PwmOut pwm2A(PB_1);
PwmOut pwm2B(PB_10);
PwmOut pwm2C(PB_5);
DigitalOut enable2A(PB_4);
DigitalOut enable2B(PC_4);

brushlessservo moteur(pwm1A,pwm1B,pwm1C,enable1A,enable1B);
brushlessservo moteurB(pwm2A,pwm2B,pwm2C,enable2A,enable2B);

float pitchAngle = 0;
float rollAngle = 0;

void compFilter() {mpu6050.complementaryFilter(&pitchAngle, &rollAngle);}
void toggle_led1() {myled!=myled;}
void toggle_led2();

int main() {
    //brushlessservo moteur;
    mpu6050.init(); 
    filter.attach(&compFilter, 0.005);
    wait(1);
    /*
    moteur.gotothetha(450);
    wait(1);
    moteur.gotothetha(0);
    wait(1);
    moteur.gotothetha(1350);
    moteur.gotothetha(0);
    
    for(int i=0; i<1800;i+=5){
        moteur.gotothetha(i);
        wait_ms(100);
    }
    */
//    int32_t angle = 0;
    
    while(1) {
        //printf("%f\n",pitchAngle);
        moteur.gotothetha( ((int)pitchAngle)*10 );
        //moteur.test();
    }
}