File content as of revision 1:bbe0769f00e9:

//

#include <Motor.h>
#include <encoderKRAI.h>
#include <mbed.h>
#include "encoderHAL.h"
#include "millis/millis.h"

//declare
//encoderKRAI encoder_eks(PB_10,PB_3,538,encoderKRAI::X4_ENCODING);// input pin
encoderHAL enc_eks(TIM3);
//encoderKRAI encoder(PA_8,PC_9,538,encoderKRAI::X4_ENCODING);// input pin
Serial pc(USBTX, USBRX,115200);
Motor main_motor(PA_7 , PA_11, PB_12);
DigitalIn pin1(PB_8);
DigitalIn pin2(PB_9);
DigitalIn pin3(PB_4);
DigitalIn pin4(PB_5);
DigitalIn pin5(PB_6);
DigitalIn pin6(PB_7);

I2C i2c (PB_7, PB_6);

const int addr = 0x90;

//double pulse;
double pulse_eks;
uint32_t samp_enc_ex = 0;
int32_t val1, val2, val3, val4, val5, val6;


int main (){
//    startMillis();
    while(1){
//        if (millis() - samp_enc_ex > 10){
            pulse_eks += (double)enc_eks.getPulses(1);
//            pulse = (double)encoder.getPulses();
    i2c.write(addr, pulse_eks, 1);
            //val1= pin1.read();
//            val2= pin2.read();
//            val1 = enc_eks.getPulses(0);
//            pc.printf("%d\n", val1);
//            samp_enc_ex = millis();
//        }
        
    }
}