File content as of revision 2:4e3761881124:

#include "mbed.h"
#include "Servo.h"
#include "Map.h"
#include "Pulse1.h"


PwmOut led_left(LED1); //확인용 LED1
PwmOut led_right(LED2); //확인용 LED2

Servo bldc_left(D12); // 왼쪽 BLDC
Servo bldc_right(PC_7); // 오른쪽 BLDC

PulseInOut Channel1(A0); //채널1, futaba기준 좌우방향(오른쪽 조이스틱)
PulseInOut Channel2(A1); //채널2, futaba기준 상하방향(오른쪽 조이스틱)
PulseInOut Channel3(A2); //채널3, futaba기준 상하방향(왼쪽 조이스틱)

int main() {
    bldc_left.write(0); // BLDC 초기 설정
    bldc_right.write(0);
    
    led_left = 1;
    led_right=1;
    
    wait(0.5);
    
    bldc_left.write(1);
    bldc_right.write(1);
    
    led_left =0;
    led_right=0;
    wait(2);
    
    bldc_left.write(0);
    bldc_right.write(0);
    wait(2);
    
    float raw1,raw2,raw3;
    float mod1,mod2,mod3,mod4,mod5;
    printf("\nBLDC Setup & end\n");
    
    while (1) {
        
        
        raw1 = Channel1.read_high_us(30000);
        raw2 = Channel2.read_high_us(30000);
        raw3 = Channel3.read_high_us(30000);
        
        
        printf("raw1=%.0f mV\t", raw1);
        mod1 =  map(raw1, 1450, 1000, 0, 100); // 후진
        mod2 =  map(raw1, 1550, 2000, 0, 100); // 전진
        
        
        
        printf("raw2=%.0f mV\t", raw2);
        mod3 =  map(raw2, 1450, 1000, 0, 100); // 좌회전
        mod4 =  map(raw2, 1550, 2000, 0, 100); // 우회전
        
        printf("raw3=%.0f mV\t", raw3);
        mod5 =  map(raw3, 920, 2080, 0, 100);
        
        
        printf("mod1=%.0f mV\t", mod1);
        printf("mod2=%.0f mV\t", mod2);
        printf("mod3=%.0f mV\t", mod3);
        printf("mod4=%.0f mV\t", mod4);
        printf("mod5=%.0f mV\t", mod5);
        
        mod1 = mod1/100;
        mod2 = mod2/100;
        mod3 = mod3/100;
        mod4 = mod4/100;
        mod5 = mod5/100;
        
        printf("measure1 = %f mV\t", mod1);
        printf("measure2 = %f mV\t", mod2);
        printf("measure3 = %f mV\n", mod3);
        printf("measure4 = %f mV\n", mod4);
        printf("measure5 = %f mV\n", mod5);
        
        
        if(mod3 > 2) {
            mod4 = 0;
            }
            
        if(mod4 > 2) {
            mod3 = 0;
            }
            
        
        float bldc_l, bldc_r;
        bldc_l = mod1 - mod3 + mod4;
        bldc_r = mod1 + mod3 - mod4;
        
        
        bldc_left.write(mod1);
        bldc_right.write(mod2);
        

        led_left.write(mod1);
        led_right.write(mod2);
        }
}