File content as of revision 2:fd1023193cc4:

#include "PID.h"
#include "Motor.h"
#include <Map.hpp>
#include "mbed.h"
#define RATE 0.1

//Kc, Ti, Td, interval
AnalogIn analog_value1(PA_0);
AnalogIn analog_value2(PA_1);
AnalogIn analog_value3(PA_3);
Motor myMotor(PA_8, PA_5, PA_6);
Serial pc(USBTX,USBRX);

pid mypid;
pid* throttlePid;
float throttleCmd;
float throttlePosition;
float output;
float kp= 2.5;
float ki= 0.35;
float kd= 0.00;
Map mapvaltovolt = Map(0, 1, 0, 3300);
Map pedaltodagree = Map(850, 1200, 0, 90);
Map mtodagree = Map(490, 2900, 0, 90);
Map mapoutput = Map(-255, 255, -1.0, 1.0);

int speed = 0;
int main(){
  
  //float pedal1, pedal2, matzeret1, matzeret2, sumpedal, summetzeret, subpedal, submetzeret;
  //int setpedal = 0, setthrotle = 0;
  float mdagree = 0, pdagree = 0;
  

  while(1){
    pedal1 = analog_value1.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
    pedal2 = analog_value2.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
    matzeret1 = analog_value3.read(); 
    pedal1 = mapvaltovolt.Calculate(pedal1);
    pedal2 = mapvaltovolt.Calculate(pedal2);
    matzeret1 = mapvaltovolt.Calculate(matzeret1);
    
    pc.printf("pedal1 is: %.4f, pedal2 is:%.4f\n\r", pedal1, pedal2);
    sumpedal = pedal1+pedal2;
    //pc.printf("sumpedal is: %.4f\n\r", sumpedal);
    subpedal = abs(3500-sumpedal);
    //pc.printf("Subpedal is: %.4f\n\r", subpedal);
    if (subpedal<175) {
        throttleCmd = pedaltodagree.Calculate(pedal1);
        pc.printf("setpedal dagree %d\n\r", throttleCmd);
        //Update the process variable (dagree of the throtle).
        throttlePosition = mtodagree.Calculate(matzeret1);
        pc.printf("processvalue dagree %d\n\r", throttlePosition);
        
        throttlePid=pid_create(&mypid, &throttlePosition, &output, &throttleCmd, kp, ki,kd);

        /* pid tuning according to error */
        //int error=abs((int)(throttleCmd - throttlePosition));
        if ((output)>=0){
            pid_tune(throttlePid, 3.1, 0.13, 1.21);
        }
        else if ((output)<0){
            pid_tune(throttlePid, 3.1, 0.13, 1.21);
        }
        pid_compute(throttlePid);
        
    }
    speed = mapoutput.Calculte(*pid->output);
    myMotor.speed(speed);
    
    wait(RATE);
  }

}