File content as of revision 0:7bc93f851767:

#include "mbed.h"
#include "encoder.h"
#include "MODSERIAL.h"

/** Coerce -> float in, and coerce if less than min, or larger than max **/
void coerce(float * in, float min, float max);
AnalogIn potmeter(PTC2);
volatile bool looptimerflag;


void setlooptimerflag(void)
{
    looptimerflag = true;
}


int main() {
    Encoder motor1(PTD0,PTC9);
    MODSERIAL pc(USBTX,USBRX);
    PwmOut pwm_motor(PTA12);
    DigitalOut motordir(PTD3);
    float setpoint;
    float new_pwm;
    pc.baud(115200);
    Ticker looptimer;
    looptimer.attach(setlooptimerflag,0.01);  
    pc.printf("bla"); 
    while(1) {
        while(!looptimerflag);
        looptimerflag = false;
        setpoint = (potmeter.read())*2000;
        pc.printf("s: %f, %d \n\r", setpoint, motor1.getPosition());
        if(motor1.getPosition() > setpoint)
            new_pwm = 0.5;
        else
            new_pwm = -0.5;

        if(new_pwm > 0)
            motordir = 0;
        else
            motordir = 1;  
        pwm_motor.write(abs(new_pwm));
    }
}


//coerces value 'in' to min or max when exceeding those values
//if you'd like to understand the statement below take a google for
//'ternary operators'.
void coerce(float * in, float min, float max)
{
    *in > min ? *in < max? : *in = max: *in = min;
}