File content as of revision 0:262d28994243:

#include "mbed.h"
#include "QEI.h"
#include "Locate.h"

#define rPR 100
#define lPR 100

Serial pc(SERIAL_TX, SERIAL_RX);

DigitalOut rv(PA_6);
DigitalOut lv(PA_14);
DigitalIn  finished(D15);

QEI right(PA_7, PA_5, NC, lPR, QEI::X2_ENCODING);
QEI left(PA_13, PA_15, NC, lPR, QEI::X2_ENCODING);  //Aを上から7番目に着ける,GNDはA15の下

Locate machine(0,0);

int main()
{
    rv = 1;
    lv = 1;

    int cnt = -10;
    
    while(cnt++ < 0)
    {
    pc.printf("Rpulse: %d Lpulses: %d\n\r x(mm): %d y(mm): %d theta: %f.\n\r"
                ,right.getPulses(), left.getPulses(), machine.getX(), machine.getY(), machine.rad);
    pc.printf("Rpulse: %d Lpulses: %d\n\r x(mm): %d y(mm): %d theta: %f.\n\r"
                ,-right.getPulses(), left.getPulses(), machine.getX(), machine.getY(), machine.rad);
    //machine.setup(right.getPulses(),left.getPulses());
   
    }    
    
    while(1) {
        machine.update(-right.getPulses(), left.getPulses());
        if (cnt++ >= 200) {
            cnt = 0;
            pc.printf("Rpulse: %d Lpulses: %d x: %f\n\r x(mm): %d y(mm): %d theta: %f.\n\r"
                ,-right.getPulses(), left.getPulses(), machine.x, machine.getX(), machine.getY(), machine.rad);
        }
    }
}