File content as of revision 3:12f2ee26a43f:

#include "mbed.h"
#include "param.h"
#include "pin_config.h"

#include "iSerial.h"
//#include "protocol.h"
#include "communication.h"


//control stearing
PwmOut heading_front(PIN_FRONT_SERVO);
PwmOut heading_rear(PIN_REAR_SERVO);
//control speed
PwmOut drive_motor(PIN_RC_SPEED);

//led debugging
DigitalOut myled(LED1);

//set foreground
Ticker Update_command;
Ticker Samping;

void Init_servo()
{
    heading_front.period_ms(20);
    heading_rear.period_ms(20);
    drive_motor.period_ms(20);
}

void setControl()
{

}

void getSensor()
{

}

void Init_foreground()
{
    Update_command.attach(&setControl,TIMER_UPDATE);
    Samping.attach(&getSensor,TIMER_SAMPING);
}





int main()
{
    myled=0;
    //Init communication serial 2chanal
    COMMUNICATION pan_a(TX_PAN_A, RX_PAN_A,115200,1000,1000); // tx, rx
    COMMUNICATION pan_b(TX_PAN_B, RX_PAN_B,115200,1000,100); // tx, rx

    Init_servo();
    
        ANDANTE_PROTOCOL_PACKET packet;

        packet.robotId = 0xBB;
        packet.length = 8;
        packet.instructionErrorId = 0x01;
        packet.parameter[0] = 0x02;
        packet.parameter[1] = 0x03;
        packet.parameter[2] = 0x04;
        packet.parameter[3] = 0x05;
        packet.parameter[4] = 0x06;
        packet.parameter[5] = 0x07;

        pan_a.sendCommunicatePacket(&packet);
     
    while(1) {
        //      if(pan_a->readable() !=0) {

        uint8_t status = pan_a.receiveCommunicatePacket(&packet);

        if(status == ANDANTE_ERRBIT_NONE) {
            myled =1;
            wait(1);
            myled=0;
        }

    }
}