File content as of revision 0:057b99c6fdad:

#include "mbed.h"
#include "stdio.h"

#if !DEVICE_ANALOGOUT
#error You cannot use this example as the AnalogOut is not supported on this device.
#else
AnalogOut my_output(PA_4);
#endif

AnalogIn analog0_value(D11);        //変位
AnalogIn analog1_value(A0);         //圧力

#define KP              (0.000005)
#define KI              (0.0)
#define Gravity         (9.80665)
#define Beem_length     (0.1125)
#define cog_position    (0.0628)        //展開軸からみた重心位置
#define Beem_mass       (1.2923)
#define Area            (0.003136)
#define Cylinder_mass   (0.2527+0.3004)
#define kt              (13.88)
#define Initial_length  (0.141)

int main()
{
    double Threshold_P = 1.5 * 1000;
    double Process_value;

    //printf("hello");

    while(Process_value<Threshold_P) {
        Process_value = (double)analog1_value.read() * 5.07 * 1000;
        my_output.write_u16(65535);
        printf("P=%f\n",Process_value);

    }

    double Pressure_target;             //目標圧力
    double Pressure_diff;
    double Pressure_integral;
    double Displacement;                //インフレータブルチューブ初期長さからの変位
    double voltage = 0;
    double T;

    double PtoBit = 65535 / 66*1000;  //65535 bit / 66 kPa

    Timer time;
    time.start();

    while(1) {
        Displacement = (((double)analog0_value.read() / 4.0) - (1.0 / 20.0));        //型変換必要あり20181205
        Pressure_target = ((Beem_mass * cog_position / Beem_length + Cylinder_mass ) * Gravity - kt * ( Initial_length - Displacement )) / Area ;

        Process_value = (double)analog1_value.read() * 5.07 * 1000.0;        //bit-圧力[Pa]変換:0-5.07 [kPaG],0-0.1 [割合]
        //Pressure_diff = Pressure_target - Process_value;
        Pressure_diff = 2500.0 - Process_value;

        //voltage = (int)((KP * Pressure_diff + KI * Pressure_integral)*PtoBit);
        voltage = ((KP * Pressure_diff + KI * Pressure_integral)*PtoBit);
        voltage = (int)(voltage);

        if(voltage < 0) {
            my_output.write_u16(0);
        } else if(voltage >= 0 && voltage <= 1689) {
            my_output.write_u16(1689);
        } else if(voltage > 1689 && voltage <= 65535) {
            my_output.write_u16(voltage);
        } else if(voltage > 65535) {
            my_output.write_u16(65535);
        }

        Pressure_integral += Pressure_diff;
        
        T = time.read();
        printf("T=%f\t",T);
                
        //printf("Vin=%f\t",analog1_value.read());
        //printf("X=%f\t",Displacement);
        printf("P=%f\t",Process_value);
        //printf("Pt=%f\t",Pressure_target);
        printf("Pd=%f\t",Pressure_diff);
        printf("Vout=%f\n",voltage);
                
                
        
    }
}