File content as of revision 0:753587765f3d:

#include "mbed.h"
#include "QEI.h"
#include "define.h" //ステータス用

Ticker timer;
Timer T;

QEI Enc1(p7,p8,NC,RESOLUTION,&T,QEI::X4_ENCODING);
QEI Enc2(p5,p6,NC,RESOLUTION,&T,QEI::X4_ENCODING);
DigitalIn sw(p26);
Serial Saber(p13,p14);
Serial pc(USBTX,USBRX);

int encount1 = 0, encount2 = 0;
float  encount_rot = 0;
float spd1 = 0;

void timer_warikomi()
{
    static float pre_sp1 = 0;
    float pull_ratio = 1.0;
    float multi = 4.0;
    float ppr = 1.0;
    static int cmd = 15;
    encount1 = Enc1.getPulses();
    encount2 = Enc2.getPulses();
    if (encount1 > encount2) encount_rot = encount1;
    else encount_rot = encount2;
    
    float rot_sp1 = encount_rot/multi/ppr*pull_ratio; 
    spd1 = (rot_sp1 - pre_sp1)/INT_TIME/(48*4);
        
        if(sw == ON) cmd = 0;
        
        Saber.putc(SB_ADRS);
        Saber.putc(1);
        Saber.putc(cmd);
        Saber.putc((SB_ADRS + 1 + cmd) & 0b01111111);
        
        Saber.putc(SB_ADRS);
        Saber.putc(4);
        Saber.putc(cmd);
        Saber.putc((SB_ADRS + 4 + cmd) & 0b01111111);
        pre_sp1 = rot_sp1;
}

int main() {
    Saber.baud(115200);
    pc.baud(9600);
    timer.attach(timer_warikomi,INT_TIME);
    
    while(1) {
    pc.printf("%d\t%d\t%f\t%f\n", encount1 , encount2, encount_rot, spd1);
    }
}