File content as of revision 0:44e787b4e1d0:

#include "mbed.h"
#include "dsp.h"
 
Ticker ticker;
AnalogIn    inX(PC_2);
AnalogIn    inY(PC_0);
AnalogOut   outX(PA_4);
AnalogOut   outY(PA_5);
DigitalOut  out_led(D4);
arm_pid_instance_f32 pidX;
arm_pid_instance_f32 pidY;

double Kp = 1.0;
//
void controlLop(void){
    out_led = 1;
    double outxx, outyy;
    
    outxx = inX.read()-0.5;
    outyy = inY.read()-0.5;
    
    outX.write(Kp*outxx);
    outY.write(Kp*outyy);
    out_led = 0;
}
//
void controlLoop(void)
{
    out_led = 1;
    
    //Process the PID controller
    double outxx = arm_pid_f32(&pidX, inX.read()-0.5);
    double outyy = arm_pid_f32(&pidY, inY.read()-0.5);
    
    //Range limit the output
    if (outxx < -0.5)
        outxx = -0.5;
    else if (outxx > 0.5)
        outxx = 0.5;
    if (outyy < -0.5)
        outyy = -0.5;
    else if (outyy > 0.5)
        outyy = 0.5;  
    //Set the new output duty cycle
    outX.write(outxx+0.5);
    outY.write(outyy+0.5);
    /*
    outX.write(inX.read());
    outY.write(inY.read());
    */
    out_led = 0;
}
 
int main()
{
    //Initialize the PID instance structure
    pidX.Kp = 1.0;
    pidX.Ki = 0.001;
    pidX.Kd = 0.0;
    arm_pid_init_f32(&pidX, 1);
    pidY.Kp = 1.0;
    pidY.Ki = 0.001;
    pidY.Kd = 0.0;
    arm_pid_init_f32(&pidY, 1);
 
    //Run the PID control loop every 1ms
    ticker.attach(&controlLoop, 0.0001);
    //ticker.attach(&controlLop, 0.0001);
 
    while(1) {
        //Nothing to do here (except sleep maybe)
    }
}