File content as of revision 16:4b502070bea8:

/*
 * 4WD_OMNI_simple  by Tomoki Hokida
 * Simple Type
 *
 * motor pins piar
 * motor(p13,p14):motor(p15,p16)
 * motor(p17,p18):motor(p19,p20)
 *
 * Serial Pins
 * packet.arm[0]:arm
 * packet.leg[1]:omni
 * reset 0
 */

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

#define DATA_NUM 2 //DATA_NUM[byte]通信 この値はmemcpy使ってるんでxbee_packet構造体のメモリ数といい感じに合わせるようにしてください
#define XBEE_KEY 0xAA //keycode
#define ARM_KEY 0xAA

#define PWM 1.0

#define PWM_L 1.0
#define PWM_R 1.0
#define PWM_U 1.0
#define PWM_D 1.0

#define R 0x4
#define L 0x1
#define U 0x2
#define D 0x8

#define R_t 0x10
#define L_t 0x40

#define TIME 0

BusOut check(LED1,LED2,LED3,LED4);
BusOut motors(p13,p14,p15,p16,p17,p18,p19,p20);

PwmOut pwm[4]= {p21,p22,p23,p24};

Serial pc(USBTX,USBRX);

MultiSerial xbee(p28,p27);
MultiSerial armMbed(p9,p10);

/* data structure */
typedef struct {

    uint8_t arm[1];
    uint8_t leg;

} xbee_packet;

xbee_packet packet;

uint8_t get_data[DATA_NUM]= {0};

uint8_t check_data[1];

/* Out put PC stdout function */

void pc_print(){

    static int count=0;

    if(count==10e3) {
        pc.printf(" arm = %d" ,packet.arm[0]);
        pc.printf(" leg = %d" ,packet.leg);
        count=0;
    }
    count++;
}

void connect_check(void){
    xbee.start_read();
    xbee.read_data(check_data,XBEE_KEY);
    
    while(check_data[0]!=0xCC);
    while(check_data[0]==0xCC);
    xbee.stop_read();
    xbee.start_write();
    check_data[0]=0xCC;
    xbee.write_data(check_data,XBEE_KEY);
    wait_ms(10);
    xbee.stop_write();
    }

void stop_slowly(int count)
{

    for(float i=1.0; i>=0; i-=0.1) {
        
        /*for(int j=0; j>=4; j++) {

            pwm[j] = i;

        }*/
            pwm[0] = 0.1;
            pwm[1] = 0.1;
            pwm[2] = 0.1;
            pwm[3] = 0.1;
        
        wait(count*10e-3); //count value * 0.01 sec
    }
    check = 0;
}

int main()
{

    /* PWM init */
    pwm[0] = PWM;
    pwm[1] = PWM;
    pwm[2] = PWM;
    pwm[3] = PWM;

    xbee_packet *pt_packet=&packet;

    connect_check();
    
    xbee.start_read();
    xbee.read_data(get_data,XBEE_KEY);

    connect_check();

    int counter=0;

    for(;;) {

        wait_ms(1.0);

        //memcpy(&packet, get_data, DATA_NUM);

        packet.arm[0] = get_data[1];
        packet.leg = get_data[0];

        //check = get_data[1];

        armMbed.write_data(pt_packet->arm,ARM_KEY);

        /* Stop */
        if(packet.leg==0x0) {

            counter /= 10e2; //mirisec -->> sec

            if(counter>=TIME) { //wait 2 sec

                stop_slowly(counter);
            }

            motors = 0;
            counter = 0; //cunter init

        } else {

            counter++;
            check = 0xFF;
        }

        /* PWM */
        if((packet.leg>>4)==0) {

            pwm[0] = PWM_L;
            pwm[1] = PWM_R;
            pwm[2] = PWM_U;
            pwm[3] = PWM_D;

        } else {

            pwm[0] = PWM;
            pwm[1] = PWM;
            pwm[2] = PWM;
            pwm[3] = PWM;

        }

        /* Direction of movement */
        if(packet.leg&R) motors = 0x55; //01010101 R 接続に気をつけること
        if(packet.leg&L) motors = 0xAA; //10101010 L 多分モータードライバの信号線をそれぞれ逆にすればOKかな
        if(packet.leg&U) motors = 0x5A; //01011010 U
        if(packet.leg&D) motors = 0xA5; //10100101 D

        /* Turn circling */
        if(packet.leg&L_t) motors = 0x66; //01100110
        if(packet.leg&R_t) motors = 0x99; //10011001

        pc_print();
    }
}