File content as of revision 0:1045216da12e:

#include "mbed.h"


//initial allocations
DigitalOut dirpin(D4);
PwmOut pwmpin(D5);
QEI Encoder(D12,D13,NC,64,QEI::X4_ENCODING);

//volatiles
volatile counts_prev=0;

//functions
int counts(){
    int counts=Encoder.getPulses();     //MAAK NOG AF MET PREVIOUS COUNTS ONTHOUDEN.
    return counts


int main(){
    pwmpin.period_us(60);
    
    //parameters
    int caltime=30;             //calibration time until condition has been met, caltime=(time/0.1)  
    float speed=0.50f;
    int dir=0
    
    //move towards end
    for (m=1;2;m++){
        dirpin.write(dir);
        pwmpin = speed;
        int n=1
        //when motor counts do not change anymore, change direction
        while(n<(caltime+1)){
            for (n=1;caltime;n++){
                if (counts()!=counts_prev){
                    n=0;}
                else {}
            wait(0.1);}
            dir=dir+1;}