File content as of revision 13:c482c4d7a585:

#include "mbed.h"
#include "Servo.h"
#include "Movement.h"  

Servo servo1(A1);
Servo servo2(A3);        
Servo servo3(D10); 
Servo servo4(D7);
Servo servo5(D12);
Servo servo6(A5); 

   void Movement::stop(){
        servo1 = 0.5;
        servo2 = 0.5;
        servo3 = 0.5;
        servo4 = 0.5;
        servo5 = 0.5;
        servo6 = 0.5;
        wait(1);
    }
 
//前進
    void Movement::move_forward(int time = 20)
    {
        servo5  = 1;    
        wait(time);
    }
 
//後退
    void Movement::move_backward()
    {   
        servo1 = 0.7;
        servo2 = 0.7;
        servo3 = 0.7;
        servo4 = 0.3;
        servo5 = 0.3;       
        servo6 = 0.3;
        wait(5);
    }
 
//右に曲がる
    void Movement::turn_right(int theta = 15)
    {
        servo1 = 0.3;
        servo2 = 0.3;
        servo3 = 0.5;
        servo4 = 0.5;
        servo5 = 0.3;
        servo6 = 0.3;
        wait(abs(theta)/15);
    }
 
//左に曲がる
    void Movement::turn_left(int theta = 15)
    {
        servo1 = 0.5;
        servo2 = 0.7;
        servo3 = 0.7;
        servo4 = 0.7;
        servo5 = 0.7;
        servo6 = 0.5;
        wait(abs(theta)/15);
    }