File content as of revision 7:697293226e5e:

#include "mbed.h"
#include "encoder.h"
#include "HIDScope.h"

#define TSAMP 0.005
#define K_P (0.1)
#define K_I (0.03  *TSAMP)
#define K_D (0.001 /TSAMP)
#define I_LIMIT 1.

#define M1_PWM PTC8
#define M1_DIR PTC9
#define M2_PWM PTA5
#define M2_DIR PTA4

//Groene kabel moet op de GROUND en blauw op de 3.3v aansluiting

Serial pc(USBTX, USBRX);
DigitalOut led1(LED_RED);
HIDScope scope(2);

//motor 25D
Encoder motor1(PTD3,PTD5); //wit, geel
PwmOut pwm_motor1(M2_PWM);
DigitalOut motordir1(M2_DIR);

//motor2 37D
Encoder motor2(PTD2, PTD0); //wit, geel
PwmOut pwm_motor2(M1_PWM);
DigitalOut motordir2(M1_DIR);

bool flip=false;

void attime()
{
    flip = !flip;
}

void looper()
{
    motordir1=0;
    pwm_motor1.write(1);
    scope.set(0, motor1.getPosition());
    scope.set(1, motor2.getPosition());
    scope.send();
}


int main()
{
    Ticker log_timer;
    Ticker timer;
    log_timer.attach(looper, TSAMP);
    timer.attach(&attime, 7);
    while(1) {

    }
}