File content as of revision 0:6b57aea7ad9b:

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

//上から順にservo1.2.3.4.5.6の基準値　これを変えればすべての値が変わる
#define S1 1.0
#define S2 1.0
#define S3 1.0
#define S4 1.0
#define S5 1.0
#define S6 1.0


//前と後ろ
Servo servo1(D7);    
Servo servo3(A1); 
Servo servo4(D12);
Servo servo6(A5); 

//新しく取り付けるもの
Servo servo2(A3);
Servo servo5(D10);

   void Movement::stop(){
        servo1 = S1/2;
        servo3 = S3/2;
        servo4 = S4/2;
        servo6 = S6/2;
        
        //
        servo2 = S2/2;
        servo5 = S5/2;
        wait(1);
    }
 
//前進
    void Movement::move_forward(int time = 20)
    {
        servo1 = 0;
        servo2 = 0;
        servo3 = 0;
        servo4 = 0;
        servo5 = 0;
        servo6 = 0;
        wait(time);
    }
 
//後退
    void Movement::move_backward()
    {
        servo1 = S1;
        servo2 = S2;
        servo3 = S3;
        servo4 = S4;
        servo5 = S5;
        servo6 = S6;
        wait(5);
    }
 
//右に曲がる
    void Movement::turn_right(int theta = 15)
    {
        servo1 = S1;
        servo2 = S2;
        servo3 = S3;
        servo4 = 0;
        servo5 = 0;
        servo6 = 0;
        wait(int(theta/15));
    }
 
//左に曲がる
    void Movement::turn_left(int theta = 15)
    {
        servo1 = 0;
        servo2 = 0;
        servo3 = 0;
        servo4 = S4;
        servo5 = S5;
        servo6 = S6;
        wait(int(theta/15));
    }
 
//倒れているときの処理
void Movement::wakeup(int time){
        for(int i=1;i<=time;i++)
        {
        move_forward(5);
        move_backward();
        turn_right();
        turn_left();
    }
}