File content as of revision 0:a40701dd7f26:

#include "mbed.h"
#include "EC.h" //Encoderライブラリをインクルード
#include "SpeedController.h"
#define RESOLUTION 2048//分解能

Ec4multi EC_backdrop(p15,p16,RESOLUTION);
SpeedControl backdrop(p21,p22,50,EC_backdrop);
Serial pc(USBTX,USBRX);
DigitalOut snatch(p8);
DigitalOut pass1(p27);
DigitalOut pass2(p28);
//Ticker motor_tick;  //角速度計算用ticker
double a=0;//now
double b=0;//target
double turn=0;
void tsukami()
{
    b=1.3;
}
void put()
{
    b=-0.7;
}
void top()
{
    b=0;
}
int main()
{
    pc.printf("setting please");
    while(1) {
        double old_turn=turn;
        a=EC_backdrop.getRad();
        if(a-b>=0.1) {
            turn=0.1;
            pc.printf("F");

        } else if (a-b>=0.05) {
            turn=10*(a-b)*(a-b);
            pc.printf("f");
        } else if (b-a>=0.1) {
            turn=-0.1;
            pc.printf("B");
        } else if (b-a>=0.05) {
            turn=-10*(a-b)*(a-b);
            pc.printf("b");
        } else {
            backdrop.stop();
            backdrop.turn(0);
            turn=0;
            pc.printf("s");
        }

        if(turn*old_turn<0)turn=0;
        backdrop.turn(turn);
        pc.printf("%lf",EC_backdrop.getRad());
        if(pc.readable()) {
            char sel=pc.getc();
            if(sel=='z') {
                pc.printf("z\r\n");
                tsukami();
            } else if(sel=='x') {
                pc.printf("x\r\n");
                put();
            } else if(sel=='c') {
                pc.printf("c\r\n");
                top();
            }
            /*            if(sel=='q') {
                            printf("\r\n");
                            if(denjiben==0)denjiben=1;
                            else denjiben=0;
                        }*/
            if(sel=='1') {
                snatch=0;
                printf("snatch_off\r\n");
            }
            if(sel=='2') {
                snatch=1;
                printf("snatch_on\r\n");
            }
            if(sel=='3') {
                pass1=0;
                printf("pass1_off\r\n");
            }
            if(sel=='4') {
                pass1=1;
                printf("pass1_on\r\n");
            }
            if(sel=='5') {
                pass2=0;
                printf("pass2_off\r\n");
            }
            if(sel=='6') {
                pass2=1;
                printf("pass2_on\r\n");
            }
            //     if(sel=='a') {
            //         //pc.printf("x\r\n");
            //         //put();
            //     }
        }
    }
}