File content as of revision 3:5bfa7291c639:

//////////////////////////////////////////////////////////////////
// project:   TurtleBot Project                                 //
// code v.:   1.0                                               //  
// board  :   NUCLEO-F303KB                                     //
// date   :   20/2/2018                                         //
// code by:   Coding on Earth by Humans                         //
////////////////////////////////////////////////////////////////// 

///////////////////////// init    ////////////////////////////////
//////////////////////////////////////////////////////////////////
#include "mbed.h"
#include "rtos.h"

Serial pc(USBTX, USBRX);

Thread thread1;         //control servo left
Thread thread2;         //control servo right
Thread thread3;         //read data from IMU

/////////////////////////   IMU   ////////////////////////////////
//////////////////////////////////////////////////////////////////
#include "attitude.h"
/*
#include "MPU9250.h"

float sum = 0;
uint32_t sumCount = 0;
char buffer[14];
float origin = 0;

MPU9250 mpu9250;
Timer t;
*/

///////////////////////// Servo   ////////////////////////////////
//////////////////////////////////////////////////////////////////
#include "Servo.h"
Servo Servo1(D10);
Servo Servo2(D6);
Servo Servo3(D8);
Servo Servo4(D9);
/*
int pos_up_start;
int pos_up_end;
int pos_down_start;
int pos_down_end;*/

int pos_down_start = 1400;
int pos_down_end = 1600; 
int pos_up_start = 1000; 
int pos_up_end = 1600;

///////////////////////// prototype func   ///////////////////////
//////////////////////////////////////////////////////////////////
void myservoLeft();
void myservoRight();
void IMU();

/////////////////////////    main     ////////////////////////////
//////////////////////////////////////////////////////////////////
int main()
{

    IMU();
    thread1.start(myservoLeft);
    thread2.start(myservoRight);
/*    while(1) 
    {
        printf("Hello World! Turtlebot is READY\n");
        printf("case 1-5\n");                 
        switch(pc.getc()) 
        {
            case '1':
                pos_down_start = 1400;
                pos_down_end = 1700; 
                pos_up_start = 1000; 
                pos_up_end = 1700; 
                break;
            case '2':
                pos_down_start = 1400;
                pos_down_end = 1600; 
                pos_up_start = 1000; 
                pos_up_end = 1600;
                break;
            case '3':
                pos_down_start = 1400;
                pos_down_end = 1650; 
                pos_up_start = 1000; 
                pos_up_end = 1500;
                break;
            case '4':
                pos_down_start = 1400;
                pos_down_end = 1700; 
                pos_up_start = 1000; 
                pos_up_end = 1650;
                break; 
            case '5':
                pos_down_start = 1400;
                pos_down_end = 1600; 
                pos_up_start = 1000; 
                pos_up_end = 1550;
                break;  
        }
    printf("position down motor start = %d\n", pos_down_start);
    printf("position down motor end = %d\n", pos_down_end);
    printf("position up motor start = %d\n", pos_up_start);
    printf("position up motor end = %d\n", pos_up_end);
    thread1.start(myservoLeft);
    thread2.start(myservoRight);
    thread3.start(IMU);
    } */
}


///////////////////////// myservoLeft     /////////////////////////
//////////////////////////////////////////////////////////////////
void myservoLeft()
{
    for(int n = 0; n <= 5; n += 1)
    {
        Servo1.Enable(1000,20000);
        Servo2.Disable();
        
        for (int pos = pos_down_start; pos <= pos_down_end; pos += 5) 
        {
            Servo1.SetPosition(pos);
            wait(0.01);
        }
        
        Servo2.Enable(1000,20000);
        Servo1.Disable();
        
        for (int pos = pos_up_start; pos <= pos_up_end; pos += 5) 
        {
            Servo2.SetPosition(pos);
            wait(0.01);
        }
        
        Servo1.Enable(1000,20000);
        Servo2.Disable();
        
        for (int pos = pos_down_end; pos >= pos_down_start; pos -= 5) 
        {
            Servo1.SetPosition(pos); 
            wait(0.01);
        }
        
        Servo2.Enable(1000,20000);
        Servo1.Disable();
    
        for (int pos = pos_up_end; pos >= pos_up_start; pos -= 5) 
        {
            Servo2.SetPosition(pos); 
            wait(0.01);
        }
    }
}

///////////////////////// myservoRight     ///////////////////////
//////////////////////////////////////////////////////////////////
void myservoRight() 
{       
    for(int n = 0; n <= 5; n += 1)
    {
        Servo3.Enable(1000,20000);
        Servo4.Disable();
    
        for (int pos = pos_down_start; pos <= pos_down_end; pos += 5) 
        {
            Servo3.SetPosition(pos);
            wait(0.01);
        }
        
        Servo4.Enable(1000,20000);
        Servo3.Disable();
        
        for (int pos = pos_up_start; pos <= pos_up_end; pos += 5) 
        {
            Servo4.SetPosition(pos);
            wait(0.01);
        }
    
        Servo3.Enable(1000,20000);
        Servo4.Disable();
    
        for (int pos = pos_down_end; pos >= pos_down_start; pos -= 5) 
        {
            Servo3.SetPosition(pos); 
            wait(0.01);
        }
        
        Servo4.Enable(1000,20000);
        Servo3.Disable();
    
        for (int pos = pos_up_end; pos >= pos_up_start; pos -= 5) 
        {
            Servo4.SetPosition(pos); 
            wait(0.01);
        }
    }
}

/////////////////////////      IMU         ///////////////////////
//////////////////////////////////////////////////////////////////

void IMU()
{
    attitude_setup();
    while(1)
    {
        attitude_get();
        pc.printf("%.0f  %.0f  %.0f \n\r",  roll,   pitch, yaw );
    }
}