File content as of revision 2:2b64e8a0a075:

#include "mbed.h"
#include "mbed.h"
#include "encoder.h"
#define K_P (0.1)
#define K_I (0.1)
#define K_D (0.0005 /TSAMP)
#define TSAMP 0.001
#define I_LIMIT 1.
#include <iostream>

Encoder encoderA(PTD5,PTA13);

PwmOut pwm(PTC8);
DigitalOut dir(PTC9);

int32_t enc = 0,enca2 =0,enca1=0, encp=0, counts =0;
float speed = 0.1, out =0;
int pos =0,zero =0, fout;
float v=0;
float out_i = 0;
int y;


int main()
{
    while(1){
        cout<<"typ 1 voor links, 2 voor rechts: "<<endl;
    cin>>y;
    switch(y) {
        case 1:
            cout<<"links"<<endl;
            dir = 1;
            pwm.write(0.4);
            wait(0.01);
            pwm.write(0);
            break;
        case 2:
            cout<<"rechts"<<endl;
            dir = 0;
            pwm.write(0.4);
            wait(0.01);
            pwm.write(0);
            break;
        case 3:
            cout<<encoderA.getPosition()<<endl;
            break;
        case 4:
             encoderA.setPosition(0);
             break;
    }
}


}