File content as of revision 12:6e2ee1c83ac1:

/*
 * 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 8 //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

BusOut check(LED1,LED2,LED3,LED4);
//BusIn sw(p21,p22,p23,p24);
//BusOut motors(p21,p22,p23,p24,p25,p26,p27,p28);
BusOut motors(p5,p6,p7,p8);

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

Serial pc(USBTX,USBRX);

MultiSerial xbee(p28,p27,read);
MultiSerial armMbed(p13,p14,write);

typedef struct{

    uint8_t arm[1];
    uint8_t leg;

}xbee_packet;

xbee_packet packet;

uint8_t get_data[DATA_NUM]={0};

int main()
{
    //sw.mode(PullUp);
    
    //PWM init
    pwm[0] = PWM;
    pwm[1] = PWM;
    pwm[2] = PWM;
    pwm[3] = PWM;

    xbee_packet *pt_packet=&packet;

    xbee.read_data(get_data,XBEE_KEY);        
    int i=0;
    for(;;){

        wait_ms(0.1);

        // get_data[0]=0xFF;
    // get_data[1]=0x01;    

    //memcpy(&packet, get_data, DATA_NUM); //ちょい危険

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

        check = get_data[1];

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

        if(packet.leg==0x0) motors = 0;
        if(packet.leg&0x1) motors = 0x05; //p21,p23 
        if(packet.leg&0x2) motors = 0x0A; //p22,p24 
        if(packet.leg&0x4) motors = 0x50; //p25,p27        
        if(packet.leg&0x8) motors = 0xA0; //p26,p28

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