File content as of revision 1:72b8490a4ece:

#include "mbed.h"
#include "Help.h"

Serial pc(USBTX,USBRX);
DigitalOut POWER_LED(D5);

static int direct,speed;
static char wheel_RF,wheel_LF;
static char wheel_RB,wheel_LB;
static char arm_moter;

int main(void)
{
    POWER_LED = 1;
    speed = fast;
    direct = SBREAK;
    format_data(&wheel_RF);
    format_data(&wheel_LF);
    format_data(&wheel_RB);
    format_data(&wheel_LB);
    format_data(&arm_moter);
    while(1) {
        set_emg();
        set_direct(&direct);
        set_speed(&speed);
        set_mot(&arm_moter, cir, cro);
        if(direct != 0) {
            set_tire(&wheel_RF, &wheel_RB, direct, 'R', speed);
            set_tire(&wheel_LF, &wheel_LB, direct, 'L', speed);
        } else {
            set_slide(&wheel_RF,&wheel_LF,&wheel_RB,&wheel_LB,r1,l1, speed);
        }

        write_data(Rf_add,wheel_RF);
        write_data(Lf_add,wheel_LF);
        write_data(Rb_add,wheel_RB);
        write_data(Lb_add,wheel_LB);
        write_data(Mot1add,arm_moter);
/*
        pri("\033[2J");
        pri("\033[1;1H wheel_RF:0x%x",wheel_RF);
        pri("\033[2;1H wheel_LF:0x%x",wheel_LF);
        pri("\033[3;1H wheel_RB:0x%x",wheel_RB);
        pri("\033[4;1H wheel_LB:0x%x",wheel_LB);
        pri("\033[5;1H arm_moter:0x%x",arm_moter);
        pri("\033[6;1H direct:%d",direct);
        pri("\033[7;1H speed:%d",speed);
        */

    }
}