File content as of revision 2:46365fee3503:

#include "mbed.h"
#include "arduino.h"

#define PinA D9 //A phase
#define PinZ D14     //Z phase
#define PinB D8 //B phase

#define time2 10000
#define HIGH 1
#define LOW 0

//Initialize Variable
unsigned long time1 = 0; // Time
float time_cw;
float time_ccw;
int counter_cw = 0;
int counter_ccw = 0;
const float d = 0.058; //Diameter of the wheel
const float pi = 3.141592654;//PI
int num = 0;//number of turns
double t;//time per turn
float velocity;
int current = 0;
double time3;//Time of phase Z detected, use for calculate the velocity
Timer f;


DigitalIn a11(PinA);
DigitalIn a12(PinB);
//InterruptIn a11(PinA);
InterruptIn a13(PinZ);
//InterruptIn a12(PinB);

Serial pc(USBTX, USBRX);

void Encode0()
{

    //Ignore noise pulses
    
    //When the two reading is bigger than 10ms then count it as correct pulse
    //uint32_t m = f.read_ms();
    
    //if ((m - time1) > 0.2)

    //{

        //When Phase A is falling will be detected
        if((current == 1) && (a11 == HIGH) && (a12 == LOW))
        
        {   counter_cw++;
            
            pc.printf("Foward %d \r\n", counter_cw);
        
        
        }
        
             else if((current == 2) && (a11 == LOW) && (a12 == HIGH)) 
        
        {  counter_ccw++; 
        
           pc.printf("Backward %d \r\n", counter_ccw);
        
        
        }
    
    //}
    
    //time1 = m;
    
}

void test(){
    int n,m = 0;
    n = a11;
    m = a12;
    pc.printf("%d %d \r\n", n, m);
}

void Encode1()
{   //uint32_t m = f.read();
    
   //if ((m - time1) > 0.2)

   //{
    if(current == 0){
      
        if ((a11 == HIGH) && (a12 == LOW))
        
        {   pc.printf("Foward \r\n");
        
            current = 1;
        
        }
        
             else if ((a11 == LOW) && (a12 == HIGH)) 
        
        {    pc.printf("Backward \r\n");
        
              current = 2;
        
        }
    
    }else if ((current == 1) && (((a11 == HIGH) && (a12 == LOW)) || ((a11 == HIGH) && (a12 == HIGH))))
        
        {   counter_cw++;
            
            pc.printf("Foward %d \r\n", counter_cw);
        
        
        }
        
             else if((current == 2) && (((a11 == LOW) && (a12 == HIGH)) || ((a11 == LOW) && (a12 == LOW)))) 
        
        {  counter_ccw++; 
        
           pc.printf("Backward %d \r\n", counter_ccw);
        
        
        }
    //}
    //time1 = m;
    //pc.printf("timer %d \r\n", time1);
    
}

void setup(){
    a11.mode(PullUp);
    a12.mode(PullUp);
    //a13.rise(&Encode1);
    //pc.baud(57600);
    a13.rise(&test);
    //a13.fall(&Encode);
    //a11.rise(&Encode1);
    //a14.fall(&Encode1);
    //a15.rise(&Encode);
    //a15.fall(&Encode);
}

void Set_state(){
    counter_cw = 0;
    counter_ccw = 0;
    uint32_t p = f.read_ms();
    time3 = p;//Time when Z phase detected
}

void loop()

{
    double  distance;
    //clockwise turning
    uint32_t n = f.read_ms();
    if (counter_cw == 20)
    {
//      Printf("ok");//Testing
      num = num++;
      Set_state();
      t = n - time3;
      t = t / 1000;
      distance = num * d * pi; 
      velocity = d * pi / t;
      current = 0;
      pc.printf("turns: %d", num);
      //pc.printf("The wheel has run ");pc.printf("%f", distance); pc.printf("m.");
      //pc.printf("The cw_speed is ");pc.printf("%f", velocity); pc.printf("m/s.");
      //pc.printf("The time is ");pc.printf("%f", t); pc.printf("s.");
    }
    //anti-clockwise turning
    else if (counter_ccw == 20)
    {
//      Printf("ok");//Testing
      num = num++;
      Set_state();
      t = n - time3;
      t = t / 1000;
      distance = num * d * pi; 
      velocity = d * pi / t;
      current = 0;
      pc.printf("turns: %d", num);
      //pc.printf("The wheel has run ");pc.printf("%f", distance); pc.printf("m.");
      //pc.printf("The cw_speed is ");pc.printf("%f", velocity); pc.printf("m/s.");
      //pc.printf("The time is ");pc.printf("%f", t); pc.printf("s.");
    }
    //pc.printf("%d \n",counter);
}



int main(void){
    setup();
    pc.printf("start");
    f.start();
    while(1){
        uint32_t m = f.read();
        if(m > 0.5){
            current = 0;
        }
        //loop();
    }
}