File content as of revision 0:3c24a40c2343:

#include "mbed.h"

#include "ESP8266Interface.h"
#include "SoftSerialSendOnry.h"
#include "RCWController.h"

/************************* WiFi Setting *********************************/

#define WLAN_SSID       "wifi_car"
#define WLAN_PASS       "wifi_car"


/************************* UDP Setting *********************************/
#define SEND_PORT		10000

/************************* Port Class Setting *********************************/
SoftSerialSendOnry pc(dp10); // tx
ESP8266Interface 	wifi(dp16,dp15,dp4,WLAN_SSID,WLAN_PASS);
PwmOut		motor_pwm_a(dp24);
DigitalOut	motor_sw_a(dp18);
PwmOut		motor_pwm_b(dp1);
DigitalOut	motor_sw_b(dp2);

/************************* Variable Setting *********************************/
char recv_buf[10];
int recv_buf_p = 0;
int read_p = 0;
int recv_ana_phase = 0;

/************************* Controller value to PWM vlaue *********************************/
float Controll2Pwm(int value)
{
	return(((float)value/128.0f)-1.0f);
}

/************************* Main func *********************************/
int main() {
	char* ip;
	int recv_p = 0;
	int timeout_count = 0;

	pc.printf("Start\r\n");
	
	motor_pwm_a = 0.0;
	motor_pwm_b = 0.0;
	
	wifi.init();
	pc.printf("Wifi init OK\r\n");
	
	wifi.single_ap();
	//while(!wifi.connect());
	pc.printf("Wifi Connect OK\r\n");
	
	ip = wifi.getIPAddress();
	if(ip != NULL)
	{
		pc.printf("IP:%s\r\n",ip);
	}
	else
	{
		pc.printf("IP:ERROR\r\n");
	}
	
	if(wifi.start(ESP_UDP_TYPE,ip, SEND_PORT) != false )
	{
		pc.printf("UDP Port open OK\r\n");	
	}
	else
	{
		pc.printf("UDP Port open NG\r\n");		
	}
		
	pc.printf("init All OK\r\n");
	
	while(1)
	{
		while(wifi.readable()!=0)
		{
			recv_buf[recv_p] = wifi.getc();	
			//pc.printf("recv[%d]:\r\n",recv_buf[recv_p]);
			recv_p++;
			
			if(recv_p>=10)
			{
				float left,right;
				RCWController *controller;
#if 0
				pc.printf("recv[%d]:",recv_p);
				for(int i=0;i<recv_p;i++)
				{
					pc.printf("%02X ",recv_buf[i]);
				}
				pc.printf("\r\n");
#endif
				// Set Table
				controller = (RCWController*)&recv_buf[0];
				
				// Change Servo Value
				if( (controller->status.LeftAnalogUD != 128)||(controller->status.RightAnalogUD != 128) )
				{
					left = Controll2Pwm(controller->status.LeftAnalogUD);
					right = Controll2Pwm(controller->status.RightAnalogUD);
					
					
				}
				else
				{
					if( controller->status.UP == 1 )
					{
						left = 1.0f;
						right = 1.0f;
					}
					else if( controller->status.DOWN == 1 )
					{
						left = -1.0f;
						right = -1.0f;
					}
					else if( controller->status.RIGHT == 1 )
					{
						left = 1.0f;
						right = -1.0f;
					}
					else if( controller->status.LEFT == 1 )
					{
						left = -1.0f;
						right = 1.0f;
					}
					else
					{
						left = 0.0f;
						right = 0.0f;
					}
				}
				
				if(left > 0 )
				{
					motor_pwm_a = left;
					motor_sw_a = 1;
				}
				else
				{
					motor_pwm_a = -left;
					motor_sw_a = 0;			
				}
				if(right > 0 )
				{
					motor_pwm_b = right;
					motor_sw_b = 1;
				}
				else
				{
					motor_pwm_b = -right;
					motor_sw_b = 0;			
				}
								
				//pc.printf("left = %f  right = %f\r\n",left,right);
				
				recv_p = 0;
				timeout_count = 0;
			}
		}
		wait(0.005);
		timeout_count++;
		if( timeout_count > 1000 )
		{
			// Time out Reset
			timeout_count = 0;
			recv_p = 0;
		}
	}
}