File content as of revision 1:642ee25ea489:

#include "mbed.h"
#include "core.hpp"

int main(){
    Robot main_robot(46,25.4,322.5,259.75);
    ScrpSlave scrp(PC_12,PD_2 ,PH_1 ,0x0807f800);
    Core rbt(&main_robot,&scrp,OMNI4,0.02);
    
//---------------初期設定---------------
    //モータ
    rbt.addMOT(PB_14,PB_13,2048,0);//モータ0
    rbt.addMOT(PB_7,PB_6,2048,1);  //モータ1
    rbt.addMOT(PB_9,PB_8,2048,2);  //モータ2
    rbt.addMOT(PA_11,PB_1,2048,3); //モータ3
    //エンコーダ
    RBT.addENC(PC_4,PA_13,512,4,1);
    RBT.addENC(PA_14,PA_15,512,4,2);
    RBT.addENC(PC_2,PC_3,512,4,3);
    RBT.addENC(PC_10,PC_11,512,4,4);
    RBT.addENC(PA_7,PA_6,512,4,5);
    RBT.addENC(PA_9,PA_8,512,4,6);
    RBT.addENC(PC_1,PC_0,512,4,7);
    RBT.addENC(PC_5,PA_12,512,4,8);
    //変数
    bool auto = true;
//------------------------------

    rbt.START();
    RBT.setPosition(0.0,0.0,0.0);
    
//---------------ループ---------------
    while(true){
        rbt.getStatus();
        
        rbt.LOOP();
    }
    
}