File content as of revision 0:b0ca7b23bdb5:

#include "mbed.h"
#include "ikarashiMDC.h"
#include "pinconfig.h"
#include "omni_wheel.h"
#include "Servo.h"
#include "math.h"
#include "SerialMultiByte.h"
#include "PID.h"
#include "R1370.h"
#include "OmniPosition.h"
#include "FEP_RX22.h"
#include "cmath"

#define PI 3.141592653589

DigitalIn userButton(USER_BUTTON);
AnalogIn VOLUME(A0);


FEP_RX22 mycon(fepTX, fepRX, fepad);
Serial pc(pcTX, pcRX, 115200);
Serial RS485(mdcTX,mdcRX,115200);


DigitalOut stop(em_stop);
 
SerialMultiByte rcv(sub2TX,sub2RX);

ikarashiMDC motor[] = {
    ikarashiMDC(0,0,SM,&RS485), //asi
    ikarashiMDC(0,1,SM,&RS485), //asi
    ikarashiMDC(0,2,SM,&RS485), //asi
    ikarashiMDC(0,3,SM,&RS485), //asi
    ikarashiMDC(1,0,SM,&RS485), //全体昇降1
    ikarashiMDC(1,1,SM,&RS485), //全体昇降2
    ikarashiMDC(1,2,SM,&RS485), //井上左昇降
    ikarashiMDC(1,3,SM,&RS485), //井上右昇降
    ikarashiMDC(2,0,SM,&RS485),
    ikarashiMDC(2,1,SM,&RS485),
    ikarashiMDC(2,2,SM,&RS485),
    ikarashiMDC(2,3,SM,&RS485),
};

Servo pwm_imput1(BLDC1);//ブラシレス宣言
Servo pwm_imput2(BLDC2);
Servo pwm_imput3(BLDC3);

OmniWheel omni(4);//足回り宣言
OmniPosition posi(sub1TX, sub1RX);

Timer t;

int main() 
{
    t.start();
    
    double bldcspeed = 0.8;
    
//    double spin_power;       //足回り宣言
//    double posiX , posiY , posiTheta;
    
    rcv.setHeaders(0xff,0xff);
    rcv.startReceive(4); //SerialMultiByte受信
    
    mycon.StartReceive(); //コントローラー受信・宣言
    uint8_t b[16];
    int16_t stick[4];
    int16_t trigger[4];
    int16_t volume[3];
    uint8_t toggle[4];
    uint8_t timeout;
    uint8_t data[128];
    int pw;
    
    double speed[12] = {0};
    
    int16_t angle[4] = {0};//エンコーダ受信格納
    uint8_t pulse[8] = {0};
    
    while(1)
        {
        stop = toggle[0];
        
        rcv.getData(pulse); //エンコーダ受信
        for(int i=0,j=0;i<4;i++,j+=2){
            angle[i] = pulse[j] << 8 + pulse[j+1];  
        }
        pc.printf("| ENC1:%d | ENC2:%d | ENC3:%d | ENC4:%d |",angle[0],angle[1],angle[2],angle[3]);            
        pc.printf("\r\n");
         
#if ControllerMode   
        for (int i=0; i<16; i++) b[i] = mycon.getButton(i);
        for (int i=0; i<4; i++) stick[i] = mycon.getStick(i);
        for (int i=0; i<2; i++) trigger[i] = mycon.getTrigger(i);
        
//        for (int i=0; i<16; i++) pc.printf("%d ", b[i]);
//        pc.printf(" | ");
//        for (int i=0; i<4; i++) pc.printf("%3d ", stick[i]);
//        pc.printf(" | ");
//        for (int i=0; i<2; i++) pc.printf("%3d ", trigger[i]);
//        pc.printf(" | ");
#else
        mycon.getData(data);
        for (int i=0, tmp=1; i<8; i++) {
            pw = pow((float)2,i);
            b[i] = (int)((data[0] & tmp)/pw);
            pc.printf("%d ", b[i]);
            tmp *= 2;
        }
        for (int i=8, tmp=1, j=0; i<16; i++, j++) {
            pw = pow((float)2,j);
            b[i] = (int)((data[1] & tmp)/pw);
            pc.printf("%d ", b[i]);
            tmp *= 2;
        }
        pc.printf(" | ");
        
        for (int i=0; i<4; i++) {
            stick[i] = data[i+2];
            pc.printf("%3d ", stick[i]);
        }
        pc.printf(" | ");
        
        for (int i=0; i<2; i++) {
            trigger[i] = data[i+6];
            pc.printf("%3d ", trigger[i]);
        }
        pc.printf(" | ");
        
        for (int i=0; i<3; i++) {
            volume[i] = data[i+9];
            pc.printf("%3d ", volume[i]);
        }
        pc.printf(" | ");
        
        for (int i=0; i<4; i++) {
            toggle[i] = data[i+12];
            pc.printf("%3d ", toggle[i]);
        }
        pc.printf(" | ");
        
        timeout = data[8];
        pc.printf("%3d ", timeout);
        pc.printf(" | ");
        
        
#endif
        if (mycon.getStatus()) pc.printf("receive");
        else pc.printf("anything error..."); 
    

        //ブラシレスモーター
        pwm_imput1 = ((double)volume[0]/255.0)*bldcspeed*toggle[1];

        pwm_imput2 = ((double)volume[1]/255.0)*bldcspeed*toggle[2];

        pwm_imput3 = ((double)volume[2]/255.0)*bldcspeed*toggle[3];
//        pc.printf("servo:%.2f | servo2:%.2f | servo3:%.2f\r\n",
//                  ((double)volume[0]/255.0)*bldcspeed,((double)volume[1]/255.0)*bldcspeed,((double)volume[2]/255.0)*bldcspeed);
        
        /*展開昇降*/
        if(b[5] != 0){
            speed[4] = 0.3;
            speed[5] = 0.3;
        }else if(b[4] != 0){
            speed[4] = -0.3;
            speed[5] = -0.3;
        }else{
            speed[4] = 0;
            speed[5] = 0;
        }
        //機構昇降
        if(b[9] != 0){
            speed[6] = 0.3;
        }else if(b[11] != 0){
            speed[7] = 0.3;
        }else if(b[13] != 0){    
            speed[6] = -0.3;
        }else if(b[14] != 0){    
            speed[7] = -0.3;
        }else{
            speed[6] = 0;
            speed[7] = 0;
        }
        
        for(int i=0; i<6; i++) motor[i].setSpeed(speed[i]);
        
        
    }
        
}