File content as of revision 3:842fce070123:

#include "mbed.h"
#include "rtos.h"

unsigned int q=0,r=0,s=0,START=20;//8

PwmOut mypwmA(PA_8); //PWM_OUT 
PwmOut mypwmB(PA_9); //PWM_OUT 
PwmOut mypwmC(PA_10);//PWM_OUT 


DigitalOut EN1(PC_10);
DigitalOut EN2(PC_11);
DigitalOut EN3(PC_12);

InterruptIn  HA(PA_15);
InterruptIn  HB(PB_3);
InterruptIn  HC(PB_10);

unsigned int UP,VP,WP;
AnalogIn V_adc(PC_2);  // gaibu Volume
//AnalogIn V_adc(PB_1);   //Volume


Serial pc(USBTX,USBRX);

DigitalOut myled(LED1);

float Vr_adc=0.0f;

Timer uT;
float ut1=0,ut2=0,usi=0;  
float Speed=0;
   
 void HAH(){
   
    s=r%2;
    if(s==0){
    ut1=uT.read_us();
    r++; 
    }
   
    if(s==1){
    ut2=uT.read_us();
    r++;
    uT.reset(); 
    }
    mypwmA.write(Vr_adc); 
    mypwmB.write(0);
    mypwmC.write(0);    
      }
      
 void HAL(){

    mypwmA.write(0);
    mypwmC.write(0);
   
     }
 void HBH(){
 
    mypwmA.write(0);
    mypwmB.write(Vr_adc);
    mypwmC.write(0);
     }
 void HBL(){
 
   mypwmA.write(0);
   mypwmB.write(0);
      }
 void HCH(){
    
    mypwmA.write(0);
    mypwmB.write(0);
    mypwmC.write(Vr_adc); 
     }
     
 void HCL(){
    mypwmB.write(0);
    mypwmC.write(0);
     }   
 
int main() {
   pc.baud(128000); 
   
   EN1=1;
   EN2=1;
   EN3=1;
   
    mypwmA.period_us(20); // PWM 50KHz
   
    mypwmB.period_us(20);
   
    mypwmC.period_us(20);
       
     
 while(1) {
   
      Vr_adc=V_adc.read();
       uT.start();
       
 if((Vr_adc>0.15f)&&(q==0)){     
  while(q<10){   
    
    mypwmA.write(0.5f);  //0.5
    mypwmB.write(0.0);
    mypwmC.write(0.0);
    wait_ms(START);
           
    mypwmA.write(0.0);
    mypwmB.write(0.5f);//0.5
    mypwmC.write(0.0);
    wait_ms(START);
         
    mypwmA.write(0.0);
    mypwmB.write(0.0);
    mypwmC.write(0.5f); //0.5
    wait_ms(START);
    q++;
      }
     } 
   
        HA.rise(&HAH);
        HC.fall(&HCL);
        HB.rise(&HBH);
        HA.fall(&HAL);
        HC.rise(&HCH);
        HB.fall(&HBL);
      //  s=0;
    if(Vr_adc < 0.1f){ 
       
       q=0;
       
       }    
       
       usi=abs(ut2-ut1);
       Speed=60*(1/(7.0*usi*1E-6));
       pc.printf("%.3f , %.3f \r" ,Speed ,Vr_adc);
       //UP=HA; VP=HB; WP=HC;
      // pc.printf("%d  ,%d ,%d\r" ,UP,VP,WP);
        myled = !myled;
       
    }
}