File content as of revision 0:a2db8cc5d5df:

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

MODSERIAL pc(USBTX, USBRX);
///////////////////////////
// Hardware initialiseren//
///////////////////////////
//------------------------------------------------------------
//--------------------All sensors---------------------------
//------------------------------------------------------------

//--------------------Analog---------------------------------
AnalogIn P_M_L(A0); //Motorspeed Left
AnalogIn P_M_R(A1); //MotorSpeed Right

//-------------------Digital----------------------------------


//-------------------Interrupts-------------------------------
InterruptIn Dir_L(D0); //Motor Dirrection left
InterruptIn Dir_R(D1); //Motor Dirrection Right
//------------------------------------------------------------
//--------------------All Motors----------------------------
//------------------------------------------------------------

//-------------------- Motor Links----------------------------
DigitalOut M_L_D(D4); //Richting motor links
PwmOut     M_L_S(D5); //Snelheid motor links
DigitalOut M_R_D(D7); //Richting motor Rechts
PwmOut     M_R_S(D6); //Snelheid motor Rechts

//--------------------------------------------------------------
//-----------------------Functions------------------------------
//--------------------------------------------------------------

//-----------------------Interrupts-----------------------------
volatile int Motor_Frequency = 1000;
void Boot(){
  
    M_L_S.period(1.0/Motor_Frequency);
    M_L_D = 1;
    M_L_S = 0.0;
    M_R_S.period(1.0/Motor_Frequency);
    M_R_D = 0;
    M_R_S= 0.0;
    }
void Switch_Dirr_L(){ // Switching dirrection left motor (Every motor starts in clockwise dirrection)
     M_L_D = !M_L_D;
    }
    
void Switch_Dirr_R(){ // Switching dirrection Right motor
    M_R_D = !M_R_D;
    }

int main()
{
//---------------------Setting constants and system booting--------------------
    pc.baud(115200);
    pc.printf("\r\n**BOARD RESET**\r\n");
    Boot();

    Dir_L.fall(Switch_Dirr_L);
    Dir_R.fall(Switch_Dirr_R); 
       
    while (true) {  
       // control= pc.getc();  
        M_L_S = P_M_L.read()/5.0+0.1;
        M_R_S = P_M_R.read()/5.0+0.1;
        //wait(1.0f);
        pc.printf("%f",M_L_S);
    }
}