File content as of revision 0:62e51b80d738:

#include "mbed.h"
#include "QEI.h"
#include "pins.cpp"
#define ENCODER_PULSE 256 //per manual
#define GEAR_RATIO 
#define SAMPLE_TIME //user defined
#define WHEEL_DISTANCE //need to measure that

//these lines setup the encoders for both wheels
QEI encoderRight(channelARight, channelBRight, channelIRight, ENCODER_PULSE);
QEI encoderLeft(channelALeft, channelBLeft, channelILeft, ENCODER_PULSE);

//main wheel class, the subclasses should follow later
class Wheel{
    int currentPulses, previousPulses;
    public:
        float wheelVelocity(float, int){
        }
    private:
        float sampleTime= SAMPLE_TIME
        int gearRatio = GEAR_RATIO;
        float encoderVelocity(){
        return (currentEncoderTicks-previousEncoderTicks)/sampleTime;
        }
        int encoderTicks(){
            previousEncoderTicks=currentEncoderTicks;
            currentEncoderTicks=
        }
} wheelRight, wheelLeft;

class WheelLeft

//call this for speed, linear and angular
class Buggy{
    public:
        float speedLinear(float wheelVelocityRight, float wheelVelocityLeft){
            return (wheelVelocityRight+wheelVelocityLeft)/2;
            }
        float speedAngular(float wheelVelocityRight, float wheelVelocityLeft){
            return (wheelVelocityRight-wheelVelocityLeft)/WHEEL_DISTANCE;
            }
    }


































class Buggy{
    float speed =
    float angular =
}buggy;