File content as of revision 4:db3dad7e53e3:

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

#define TSAMP 0.01
#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 //blauw
#define M1_DIR PTC9 //groen
#define M2_PWM PTA5 //blauw
#define M2_DIR PTA4 //groen

Serial pc(USBTX, USBRX);
DigitalOut led1(LED_RED);


void clamp(float * in, float min, float max);
float pid(float setpoint, float measurement);
volatile bool looptimerflag;
HIDScope scope(6);


void setlooptimerflag(void)
{
    looptimerflag = true;
}



int main()
{
    //Let op dat de jumpers goed staan als het motortje niet wilt draaien. De E1 jumper moet onder de nummer 7 pin. De locatie van de M1 pin
    //bepaalt of de motor CW of CCW draait.
    //start Encoder-> first pin should be PTDx or PTAx, second pin doesn't matter

    //motor 25D
    Encoder motor1(PTD3,PTD5); //wit, geel
    PwmOut pwm_motor1(M2_PWM); // PTC8, blauw,  /*PwmOut to motor driver*/
    pwm_motor1.period_us(75); //10kHz PWM frequency
    DigitalOut motordir1(M2_DIR); //PTC9, groen

//motor2 37D
    Encoder motor2(PTD2, PTD0); //wit, geel
    PwmOut pwm_motor2(M1_PWM); //PTA5, blauw
    pwm_motor2.period_us(75);
    DigitalOut motordir2(M1_DIR); //PTA4, groen

    char c ='0';
    while(1) {
        pwm_motor1.write(1);
        motordir1.write(1);
        do {

            if(pc.readable()) {
                c = pc.getc();
            }
        } 
        while((c !='1'));
        {
            c = '0';
            pwm_motor1.write(0.5);
            motordir1.write(0);
            wait(3);
        }
    }
}

//clamps value 'in' to min or max when exceeding those values
//if you'd like to understand the statement below take a google for
//'ternary operators'.
void clamp(float * in, float min, float max)
{
*in > min ? *in < max? : *in = max: *in = min;
}


float pid(float setpoint, float measurement)
{
    float error;
    static float prev_error = 0;
    float           out_p = 0;
    static float    out_i = 0;
    float           out_d = 0;
    error  = setpoint-measurement;
    out_p  = error*K_P;
    out_i += error*K_I;
    out_d  = (error-prev_error)*K_D;
    clamp(&out_i,-I_LIMIT,I_LIMIT);
    prev_error = error;
    scope.set(1,out_p);
    scope.set(2,out_i);
    scope.set(3,out_d);
    return out_p + out_i + out_d;
}