File content as of revision 33:9c98ab97084e:

/*
 * 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 0.5
#define PWM_SLOW 0.1


#define R_R 0x4
#define R_L 0x1
#define R_U 0x2
#define R_D 0x8

#define L_R 0x10
#define L_L 0x40
#define L_U 0x20
#define L_D 0x80

#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 = {0};

uint8_t get_data[DATA_NUM]= {0};
uint8_t check_data[2]= {0};


/*start display LED*/
void display_LED(int kind)
{

    switch(kind) {

        case 0: //err check
            check = 0xA;
            wait(0.5);
            check = 0x5;
            wait(0.5);

            break;

        case 1:
            //
            check = 0xF;
            wait(0.5);
            check = 0;
            break;
    }
}


/*Safety Mode*/
void safety_mode()
{
    xbee.stop_read();
    armMbed.stop_write();

    for(;;) {

        motors = 0;
        display_LED(0);

        if(xbee.readable_check()==1) {

            NVIC_SystemReset();

            //xbee.start_read();
            //arm_mbed.start_write();
            return;
        }
    }
}

int main()
{

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

    xbee_packet *pt_packet=&packet;

    //connect_check();
    int abs_count=0;
    int radio_count=0;
    
    xbee.start_read();
    xbee.read_data(get_data,XBEE_KEY);

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

    display_LED(1);

    //int counter=0;
    
   // int pwm_check=0;

    for(;;) {

        //wait_ms(0.5);

        //memcpy(&packet, get_data, DATA_NUM);
        packet.arm[0] = get_data[1];
        packet.leg = get_data[0];

        abs_count++;            

        if(xbee.readable_check() == 0) {
          
            radio_count++; 
                  
        }
        
        if(abs_count>=10){
            abs_count=0;
   
            if(radio_count>=5){
                
            motors = 0;
            
            pwm[0] = 0;
            pwm[1] = 0;
            pwm[2] = 0;
            pwm[3] = 0;
            
            check =0x3;
            
            packet.arm[0] = 0; //できれば構造体を直接初期化
            packet.leg = 0;
            
            }
            
            radio_count=0;
            
        } 

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

            motors = 0;

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

        } else {

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

        /* Direction of movement */
        if(packet.leg&R_R) motors = 0x55; //01010101 R 接続に気をつけること
        if(packet.leg&R_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&R_U) motors = 0x5A; //01011010 U
        if(packet.leg&R_D) motors = 0xA5; //10100101 D

        /* Turn circling */
        if(packet.leg&L_L) motors = 0x66; //01100110
        if(packet.leg&L_R) motors = 0x99; //10011001
        //if(packet.leg&L_U)
        //if(packet.leg&L_D)
    }
}