File content as of revision 0:1e31c3d92e90:

#include "mbed.h"
#include "Encoder.h"

PwmOut motor1(PC_8);
PwmOut motor2(PC_9);
DigitalOut led1(LED1);
TIM_Encoder_InitTypeDef encoder1;
TIM_Handle_TypeDef timer;

Ticker t;

float kp = 2.0f;
float kd = 0.0f;
float ki = 0.0f;

void motor(int16_t a);

uint16_t count = 0;
uint16_t countd = 0;
uint16_t integral= 0;

uint16_t counter = 32000;

int main()
{
    EncoderInit(encoder1,timer,TIM8,65535,TIM_ENCODERMODE_TI12);
    while(1) {
        led1 = !led1;
        wait(1);       
    }
}

void calc_control(){
    countd = count;
    count = __HAL_TIM_GET_COUNTER(&timer);
    integral += count-countd;
    int output = (counter - count)*kp + (count - countd)*kd + integral * ki;
    motor(output);
}

void motor(int16_t a)
{
    float x = a/32768;
    if(x>0) {
        motor1.write(x);
        motor2.write(0);
    }else{
        x = abs(x);
        motor2.write(x);
        motor1.write(0);
    }
}