File content as of revision 25:a6e41d2efd0c:

/*
 * 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 0.3
#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;

uint8_t get_data[DATA_NUM]= {0};

uint8_t check_data[2]={0};

int counter=0;


/* 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++;
}

uint8_t readable_ratio(){
    
    int check = 0;
    
    for(int i=0;i>=100;i++){
        
        if(xbee.readable_check()==1){check++;}
        
        wait_ms(1.0);
        }
    return check;
    }

void connect_check(void)
{
    xbee.start_read();
    xbee.read_data(check_data,XBEE_KEY);
    
    check = 0x01;    
    
    while(readable_ratio()>=50);
    
    check = 0x03;
    
    while(readable_ratio()<=50);

    check = 0x07;
    
    xbee.stop_read();
    xbee.start_write();

    check_data[0]=0xCC;

    xbee.write_data(check_data,XBEE_KEY);

    wait_ms(10);

    xbee.stop_write();
}

void move_slowly(int count)
{   

        float i=(count/10e3)*PWM; //mirisec -->> sec

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

        //wait_ms(1.0); //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);
        
    armMbed.start_write();
    armMbed.write_data(pt_packet->arm,ARM_KEY);
    
    counter=0;

    check = 0xFF;
    wait(0.5);

    for(;;) {

        wait_ms(0.5);

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

        //check = get_data[1];
            
        check = packet.leg;
        

        /* Stop */
    if(packet.leg==0x0) {
          
          
        motors = 0;
          
        pwm[0] = 0;
        pwm[1] = 0;
        pwm[2] = 0;
        pwm[3] = 0;  
        
        /*
            for(;counter>=0;counter--){
                
            //if(counter>=0){counter--;} //cunter init
            
            //move_slowly(counter);
            //wait_ms(0.1);
            
            }
            */           

        }else{
            
        /*
            if(counter<=10e3){
                counter++;
            }
                
           move_slowly(counter);
         */
         
         if((packet.leg==L_U) || (packet.leg==L_D)){
            
            pwm[0] = PWM_SLOW;
            pwm[1] = PWM_SLOW;
            pwm[2] = PWM_SLOW;
            pwm[3] = PWM_SLOW;
            
            }else{
                           
            pwm[0] = PWM;
            pwm[1] = PWM;
            pwm[2] = PWM;
            pwm[3] = PWM;
           }
    }


        /* 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_D) motors = 0x55; //01010101 R 接続に気をつけること
        if(packet.leg&R_U) 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_R) motors = 0x5A; //01011010 U
        if(packet.leg&R_L) 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)
            
        pc_print();
    }
}