File content as of revision 0:d4deb703d536:

#include "mbed.h"
#include "EC.h"
#include "math.h"

PwmOut motor1F(PC_9);
PwmOut motor1B(PC_8);
PwmOut motor2F(PC_7);
PwmOut motor2B(PC_6);
Ec ec1(PA_12, PA_11, NC, 500, 0.05);
Ec ec2(PC_4, PB_14, NC, 500, 0.05);
Ticker ticker;
int tag1 = -100;
int tag2 = 100;
int gap1;
int gap2;
int a=0;
int i=1;

void calomega() {
  ec1.CalOmega();
  ec2.CalOmega();
  a=a+1;
  if(a>=30&&i==1){
      tag1=-400;
      a=0;
      i=0;
      }
      if(a>=30&&i==0){
          tag1=-100;
          a=0;
          i=1;
          }}

int main() {
  ticker.attach(&calomega, 0.05);
  motor1F.period_us(50);
  motor1B.period_us(50);
  motor2F.period_us(50);
  motor2B.period_us(50);
  while (1) {
    printf("count=%d\r\n", ec1.getCount());
    gap1 = tag1 - ec1.getCount();
    gap2 = tag2 - ec2.getCount();
    if (gap1 > 0) {
      if (gap1 > 50) {
        motor1F = 0;
        motor1B = 0.3;
      }
      if (gap1 < 50) {
        motor1F = 0;
        motor1B = gap1 * 0.005;
      }
    }
    if (gap1 < 0) {
      if (gap1 < -50) {
        motor1F = 0.3;
        motor1B = 0;
      }
      if (gap1 > -50) {
        motor1F = -gap1 * 0.005;
        motor1B = 0;
      }
    }
  }
}