File content as of revision 6:26e5a520472d:

/*
 * 4WD_OMNI_simple  by Tomoki Hokida
 * Simple Type
 *
 * motor pins piar
 * motor(p21,p22):motor(p23,p24)
 * motor(p25,p26):motor(p27,p28)
 * 通信中継用
 * data[0]:arm
 * data[1]:omni
 * reset 0
 */

#include "mbed.h"
#include "MultiSerial.h"

#define DATA_NUM 2 //DATA_NUM[byte]通信
#define XBEE_KEY 0xAA//keycode
#define ARM_KEY 0x0A

DigitalOut check(LED1);
DigitalOut arm_check(LED2);

BusOut motors(p21,p22,p23,p24,p25,p26,p27,p28);

//I2C armMbed(p9,p10);

MultiSerial xbee(p13,p14);
MultiSerial armMbed(p9,p10);

//armMbed.frequency(10000);

typedef struct{

    uint8_t arm[1];
    uint8_t leg;

}xbee_packet;

xbee_packet packet;

uint8_t get_data[DATA_NUM];

int main()
{
    //int val;
    
    xbee_packet *pt_packet=&packet;

    xbee.read(get_data,XBEE_KEY);

    for(;;){
 //       xbee.baud(1200);
        
        memcpy(&packet, get_data, DATA_NUM); //ちょい危険

        if(packet.leg==0x0) motors = 0;
        if(packet.leg&0x10) motors = 0x05; //p21,p23 
        if(packet.leg&0x20) motors = 0x0A; //p22,p24 
        if(packet.leg&0x40) motors = 0x50; //p25,p27        
        if(packet.leg&0x80) motors = 0xA0; //p26,p28

        armMbed.write(pt_packet->arm,ARM_KEY);
        
//        val = armMbed.write(slave_addr,pt_packet->arm,1);  
//        if(!val) i2c_check = 1; else i2c_check = 0;
        
        check = !check;   
    }
}