File content as of revision 1:853939e38acd:

#include "mbed.h"
#include "EthernetInterface.h"
#include "rtos.h"
#include "QEI.h"

//Master or Slave? 1=Master, 0=Slave
static const int identity = 1;

//network config
static const char* master_ip = "192.168.1.101";
static const char* slave_ip = "192.168.1.102";
static const char* MASK = "255.255.255.0";
static const char* GATEWAY = "192.168.1.1";
static const int port = 865;

//declaration of interfaces

DigitalOut led(LED_GREEN); 
DigitalOut led2(LED_RED);
EthernetInterface eth;  //network 
Serial pc(USBTX, USBRX);//create PC interface
UDPSocket socket;       //socket to receive data on
Endpoint client;        //The virtual other side, not to send actual information to
Endpoint counterpart;   //The actual other side, this is where the information should go to
Ticker mainloop;

QEI M1(D3,D2,NC,1024,QEI::X4_ENCODING);

//variables 
char data[30]= {""};
int size;
int counter = 1;
int counter_received = 1;
char * var;
char output[30] = {""};
float input = 0.1545;
bool main_loop_check = 0;
const float looptime  = 1.0/50; //50Hz
float angle = 0.0;

const float PI = 3.1415926535897932384626433832795028841971693993751058209749445923078164062862089986280348253421170679;
const float RadsPerCount = (2 * PI)/(1024);
int frequency_pwm = 10000;

//functions to be used
void init_eth(void);
void inet_USB(void);
void end_eth(void);
void mainlooptrigger(void);
int main(void);

void inet_eth(){
    if(identity==1)
        {
        eth.init(master_ip, MASK,GATEWAY);
        eth.connect();
    
        socket.bind(port);
        counterpart.set_address(slave_ip,port);
        }
    else if(identity==0)
        {
        eth.init(slave_ip, MASK,GATEWAY);
        eth.connect();
    
        socket.bind(port);
        counterpart.set_address(master_ip,port);   
        }

    }

void inet_USB(){
    pc.baud(9600);
    }
    

void end_eth(){
    socket.close();
    eth.disconnect();
    }

void mainlooptrigger()
    {
    main_loop_check = 1;
    }

void receiveUDP(void const *argument){
    while(true){
        size = socket.receiveFrom(client, data, sizeof(data));
        if(size > 0){
            data[size] = '\0';
            //pc.printf("data: %s \n\r",data);
            var = strtok(data,";- ");
            counter_received = atof(var);
            var = strtok(NULL,";- ");
            input = atof(var);
            }
        }
    }

osThreadDef(receiveUDP, osPriorityNormal, DEFAULT_STACK_SIZE);

int main(){
    inet_eth();
    inet_USB();
    
    osThreadCreate(osThread(receiveUDP), NULL);
    led2=1;
    led=1;
    mainloop.attach(&mainlooptrigger,looptime);
    
    while(true){
                
        if(main_loop_check==1){
            angle = M1.getPulses()*RadsPerCount;
            //pc.printf("\nSERVER - Server IP Address is %s\r\n", eth.getIPAddress());
            sprintf(output, "%i;%f",counter,angle);
            //pc.printf("sending %s\r\n",output);
            //pc.printf("\nSERVER - Server IP Address is %s\r\n", eth.getIPAddress());
            socket.sendTo(counterpart, output, sizeof(output));
            pc.printf("angle: %f\r\n", angle);
            counter = counter + 1;
            led=!led;
            main_loop_check = 0;
            }
        osDelay(1);
        }  
}