File content as of revision 4:f324aa81d7bd:

#include "mbed.h"
#include "QEI.h"
#include "MODSERIAL.h"
#include "math.h"


MODSERIAL pc(USBTX,USBRX);
Ticker TickerReadPots;
Ticker TickerGetCounts;
QEI Encoder1(D12,D13,NC,32);


DigitalOut DirectionPin1(D4);
DigitalOut DirectionPin2(D7);
PwmOut PwmPin1(D5);
PwmOut PwmPin2(D6);
AnalogIn potmeter1(A0);
AnalogIn potmeter2(A1);


volatile float Duty1;
volatile float Duty2;
volatile float MotorSignal1;
volatile float MotorSignal2;
volatile int counts;

// function for reading potentiometers and set to dutycycle
void ReadPots(void)
{
    Duty1 = potmeter1.read(); // read value potentiometer 1 
    Duty2 = potmeter2.read(); // read value potentiometer 2
 
    MotorSignal1 = 2*Duty1 - 1; //scaling potmeter to motor control signal [0 - 1] --> [(-1) - 1]
    MotorSignal2 = 1 - 2*Duty2; 
}

// printing counts to pc
void GetCounts(void)
{
 counts = Encoder1.getPulses();
 pc.printf("Number counts per second is: %i counts/second \r\n",counts);
 Encoder1.reset();
}



int main()
{
    pc.baud(115200);
    pc.printf("Hello World!\r\n");
    PwmPin1.period_us(60); // 16.66667 kHz (default period is too slow!)
    TickerReadPots.attach(&ReadPots,0.05); // every 50 milli seconds.
    TickerGetCounts.attach(&GetCounts,1); //Print amount of counts every second
    while (true) 
    {
    // motor 1
    DirectionPin1 = MotorSignal1 > 0.0f; //either true or false, CW or CCW
    PwmPin1 = fabs(MotorSignal1); //pwm duty cycle can only be positive, floating point absolute value
    
    // motor 2
    DirectionPin2 = MotorSignal2 > 0.0f; 
    PwmPin2 = fabs(MotorSignal2); 
    
    wait(0.01);  //Do while loop a hundred times per second.
    }
}