File content as of revision 13:8a9d3855ab96:

/*
 * 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 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

#define PWM_L 0.5
#define PWM_R 0.5
#define PWM_U 0.5
#define PWM_D 0.5

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,read);
MultiSerial armMbed(p9,p10,write);

/* 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 value[4];

/* 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++;
}

int main()
{   

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

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

    xbee_packet *pt_packet=&packet;

    xbee.read_data(get_data,XBEE_KEY);

    for(;;){

        wait_ms(0.1);  

        //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) motors = 0;

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

            for(int i=0;i==4;i++){
                pwm[i] = value[i]; 
            }
        }

        /* Direction of movement */
        if(packet.leg&0x1) motors = 0x55; //01010101 
        if(packet.leg&0x8) motors = 0xAA; //10101010
        if(packet.leg&0x2) motors = 0x5A; //01011010       
        if(packet.leg&0x4) motors = 0xA5; //10100101

        /* Turn circling */
        if(packet.leg&0x10) motors = 0x66; //01010101 
        if(packet.leg&0x80) motors = 0x99; //10101010

        pc_print();

    }
}