File content as of revision 16:cdb6d66c2c4e:

#include "mbed.h"
#include "C12832_lcd.h"

#define P_GAIN 0.998

DigitalOut Dir(p21);
PwmOut Step(p22);
DigitalOut Enable(p14);
DigitalOut MS1(p27);
DigitalOut MS2(p28);
DigitalOut MS3(p29);
AnalogIn Pot1(p19);
AnalogIn Pot2(p20);
C12832_LCD lcd;

BusIn Joystick(p12,p13,p14,p15,p16);
DigitalIn Up(p15);
DigitalIn Down(p12);
int main()
{
    Enable = 0;
    float setpoint = 1000; //Frequentie
    float step_freq = 1;
    MS1 = 1;
    MS2 = 0;
    MS3 = 0;
    float p1;
    int p2;

    //Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
    Step.write(0.5); // Duty cycle van 50%
    // Dir = Pot1; // Dir 1 is naar boven, Dir 0 naar onder.
    Enable = 1;
    while (1) {

        if (p1 < 0) { //Directie controle. 
            p2 = 0;
        } else if (p1 > 0) {
            p2 = 1;
        }
        p1 = Pot1.read() - 0.50;
        Dir = p2;
        float new_step_freq;
        new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq);
        step_freq = new_step_freq;
        Step.period(1.0/step_freq);

        wait(0.01); //Hier nog ticker inbouwen
        lcd.printf("Spd %.0f Hz p1 %.2f \n", step_freq, p1); //snelheid meting op lcd, zonder decimalen

    }
}