File content as of revision 0:e6c3a3a00c16:

// THE FIGHTING BANANA SLUGS!!!
 
#include "mbed.h"       // mbed library
#include "QEI.h"        // quadrature encoder library to count encoder ticks

//Setup
//Motor 1
DigitalOut mDir1_A(p5);
DigitalOut mDir1_B(p6)
AnalogIn aIn1(p19);
PwmOut pwmOut1(p21);
QEI encoder1(p23, p24, NC, 1200, QEI::X4_ENCODING);

//Motor 2
DigitalOut mDir2_A(p11);
DigitalOut mDir2_B(p12);
AnalogIn aIn2(p20);
PwmOut pwmOut2(p22);
QEI encoder2(p25, p26, NC, 1200, QEI::X4_ENCODING);

high1 = 1;
low1 = 0;
high2 = 1;
low2 = 0;

// Declare other objects
Ticker trajTicker;
Ticker ctrlTicker;                // creates an instance of the ticker class, which can be used for running functions at a specified frequency.
Serial mySerial(USBTX, USBRX);  // create a serial connection to the computer over the tx/rx pins

float a1_t0 = 0;    //motor angle 1 from previous time step
float a1_t1 = 0;    //motor angle 1 from current time step
float a2_t0 = 0;    //motor angle 2 from current time step
float a2_t1 = 0;    //motor angle 2 from current time step
float omega1 = 0;
float omega2 = 0;
float fTraj = 1.0;   //time frequency of trajectory commands
int nTraj = 0; //trajectory index
float Ad1[10] = {0}; //target angles
float Ad2[10] = {0};
float e1 = 0;
float e2 = 0;
float kp = 1;
float kd = 1;

void getTraj(i) {
    
}

void pdControl(float in1, float in2) {
    //get motor position
    a1_t1 = encoder1.getPulses()*2*3.14/1200.0;
    a2_t1 = encoder2.getPulses()*2*3.14/1200.0;
    //calculate error
    e1 = a1_t1-in1;
    e2 = a2_t1-in2;
    //calculate motor speed
    omega1 = abs(a1_t1-a1_t0)*fTraj;
    omega2 = abs(a2_t1-a2_t0)*fTraj;
    //set motor direction
    mDir1_A = (e1<0);
    mDir1_B = !(e1<0);
    mDir2_A = (e2>0);
    mDir2_B = !(e2>0);
    //command motor speed
    pwmOut.period(.0001); //set pwm frequency to 10kHz
    pwmOut1.write(abs(kp*e1)+abs(w1*kd));
    pwmOut2.write(abs(kp*e2)+abs(w2*kd));
    mySerial.printf("Angles: %f, %f \n\r", a2_t1, a1_t1);
    
    a1_t0 = a1_t1; //save encoder position for next step (to find angular velocity)
    a2_t0 = a2_t1;
}

int main() {
    if (sizeOf(aD1) == sizeOf(aD2)) {
        
    }
    } else {
        mySerial.printf("Input error");
    }
}