File content as of revision 0:7d18a91d0d19:

#include "init.h"
#include "QEI.h"


DigitalOut  MOTOR_POWER(PTC10);

PwmOut  PWM0(PTC9);
PwmOut  PWM1(PTC8);
PwmOut  PWM2(PTA5);
PwmOut  PWM3(PTA4);
PwmOut  PWM4(PTA12);
PwmOut  PWM5(PTD4);
AnalogIn    AD0(PTB0);
AnalogIn    AD1(PTB1);
AnalogIn    AD2(PTB2);
AnalogIn    AD3(PTB3);
AnalogIn    AD4(PTC2);

DigitalOut  OUT0(PTC6);
//DigitalIn IN0(PTC6);
DigitalOut  OUT1(PTC5);
//DigitalIn IN1(PTC5);
DigitalOut  OUT2(PTC4);
//DigitalIn IN2(PTC4);
DigitalOut  OUT3(PTC3);
//DigitalIn IN3(PTC3);
DigitalOut  OUT4(PTC0);
//DigitalIn IN4(PTC0);
DigitalOut  OUT5(PTC7);
//DigitalIn IN5(PTC7);

Serial pc(USBTX, USBRX);

QEI         ENC0(PTD6, PTD7, NC, 624, QEI::X2_ENCODING);
QEI         ENC1(PTD3, PTD1, NC, 624, QEI::X2_ENCODING);
QEI         ENC2(PTA13, PTD5, NC, 624, QEI::X2_ENCODING);
QEI         ENC3(PTD0, PTD2, NC, 624, QEI::X2_ENCODING);

I2C         i2c0(PTE0,PTE1);

DigitalIn   SW0(PTE29);
DigitalIn   SW1(PTE30);

DigitalOut  rled(LED_RED);
DigitalOut  gled(LED_GREEN);
DigitalOut  bled(LED_BLUE);

void InitBoard(){
    SW0.mode(PullUp);
    SW1.mode(PullUp);
    i2c0.frequency(1000000);
    MOTOR_POWER = 1;
}

Timer AdCycle;

void AdjustCycle(int t_us){
    if(AdCycle.read_us() == 0) AdCycle.start();

    if(AdCycle.read_us()>t_us)gled=0;
    else                      gled=1;
    while(AdCycle.read_us()<=t_us);
    AdCycle.reset();
}

int Limit(int value,int max,int min) {
    if (value>max)return max;
    if (value<min)return min;
    else          return value;
}

double Limit_d(double value,double max,double min) {
    if (value>max)return max;
    if (value<min)return min;
    else          return value;
}