File content as of revision 0:4f39632d7a42:

//------INCLUDE-------
#include "mbed.h"
#include "rotary_inc.hpp"
#include "PIDcontrol.hpp"
#include "sbdbt.hpp"

//------CLASS_DEFINE------
Serial pc(USBTX,USBRX);

RotaryInc Ror1(PA_6,PA_7,0);
RotaryInc Ror2(PC_10,PC_11,0);
RotaryInc Ror3(PA_8,PA_9,0);
RotaryInc Ror4(PA_14,PA_15,0);

PIDcontrol pid_1;
PIDcontrol pid_2;
PIDcontrol pid_3;
PIDcontrol pid_4;

sbdbt sb(PA_0,PA_1);

//------VARIABLE-------
Timer one;
double val_pulse[4];
double val_spd[4];
double val_target[4];
double timer;
const double PI=3.1415926535897;
double theta,angle=45;
double Xvalue,Yvalue,Xvelocity,Yvelocity;
//------FUNCTION-------
void get_pulse(void);
void angular(void);

int main(){
    one.start();
    while(1){
        timer = one.read_us();
        get_pulse();
        angular();
        //pid_a.motor_control(targetの値,pulseの値,PinName pin_a,PinName pin_b);
        pid_1.motor_control(val_target[0],val_pulse[0],PB_14,PB_13);
        pid_2.motor_control(val_target[1],val_pulse[1],PC_9,PC_8);
        pid_3.motor_control(val_target[2],val_pulse[2],PB_5,PB_4);
        pid_4.motor_control(val_target[3],val_pulse[3],PA_11,PB_1);
        
        val_spd[0]=pid_1.get_spd();
        val_spd[1]=pid_2.get_spd();
        val_spd[2]=pid_3.get_spd();
        val_spd[3]=pid_4.get_spd();
        
        pc.printf("%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf\n",val_target[0],val_target[1],val_target[2],val_target[3],val_spd[0],val_spd[1],val_spd[2],val_spd[3]);
        while(one.read_us() - timer <= 50 * 1000); //0.05s周期
        }
}

//-------FUNCTION_DEFINE------
void get_pulse(){
    val_pulse[0]=Ror1.get();
    val_pulse[1]=Ror2.get();
    val_pulse[2]=Ror3.get();
    val_pulse[3]=Ror4.get();
}
void angular(){
    theta=(angle/180.0)*PI;
    if(sb.rsx()!=0||sb.rsx()!=0){
    Xvalue=(sb.rsx()-64)*500/64.0;
    Yvalue=(sb.rsy()-64)*500/64.0;
    Xvelocity=Xvalue*cos(theta)-Yvalue*sin(theta);
    Yvelocity=Xvalue*sin(theta)+Yvalue*cos(theta);
    val_target[0]=-Xvelocity;
    val_target[1]=-Yvelocity;
    val_target[2]=Xvelocity;
    val_target[3]=Yvelocity;
    }
    if(sb.l2()!=0){
    Yvalue=sb.l2()*500;
    for(int i=0;i<=3;i++){
        val_target[i]=-Yvalue;
     }
    }
    if(sb.r2()!=0){
        Yvalue=sb.r2()*500;
        for(int i=0;i<=3;i++){
        val_target[i]=Yvalue;
        }
    }
}