File content as of revision 0:d7ecfe1f9840:

#include "mbed.h"
#include "scrp_slave.hpp"
#include "air.hpp"
#include "Servo.h"
ScrpSlave slave(PC_12,PD_2,PH_1,SERIAL_TX,SERIAL_RX,0x0807ffff);
Serial pc(SERIAL_TX,SERIAL_RX);
DigitalIn limitA(PB_6,PullUp);
DigitalIn limitB(PB_12,PullUp);
Air catch_no(PA_9);

DigitalIn limitC(PB_4,PullUp);
Air hassya(PA_8);
Servo myservo(PB_0);
Timer timer;
int tim=-3000;



void driveMotorS2(double pwm){
    PwmOut up_pin_A(PB_13);
    PwmOut up_pin_B(PB_14);
    up_pin_A.period_us(2048);
    up_pin_B.period_us(2048);
    if (!pwm) {
        up_pin_A = 0;
        up_pin_B = 0;
    } else if (0 < pwm) {
        up_pin_A = pwm;
        up_pin_B = 0;
    } else {
        up_pin_A = 0;
        up_pin_B= -pwm;
    }
}
//　↓サーボ用
void Servo(bool data){
    if(data==0){
    myservo = 0;
    }else{
    myservo = 0.2;
    }
}
//↓発射用
bool Hassya(int rx_data,int &tx_data){
    if(rx_data == 1 && limitC==0){
        tim=timer.read_ms();
    }
    if(timer.read_ms()-tim<1000){
            hassya.move(1);
            driveMotorS2(0);
            Servo(1);
    }else if(timer.read_ms()-tim<2000){
            hassya.move(0);
            driveMotorS2(0);
            Servo(0);
            
    }else if(timer.read_ms()-tim>2000 && limitC==1){
            hassya.move(0);
            driveMotorS2(0.06);
            Servo(0);
           
    }else {
            hassya.move(1);
            driveMotorS2(0);
            Servo(0);
           
    }
    return true;
}

//↓モーター
void driveMotorS(double pwm){
    PwmOut up_pin_A1(PA_0);
    PwmOut up_pin_B1(PA_1);
    up_pin_A1.period_us(2048);
    up_pin_B1.period_us(2048);
    if (!pwm) {
        up_pin_A1 = 0;
        up_pin_B1 = 0;
    } else if (0 < pwm) {
        up_pin_A1 = pwm;
        up_pin_B1 = 0;
    } else {
        up_pin_A1 = 0;
        up_pin_B1= -pwm;
    }
}
//↓昇降
//速さはテキトー
bool Up(int rx_data,int &tx_data){
    if(rx_data==1 && !limitA){
        driveMotorS(0.3);
    }else if(rx_data==-1 && !limitB){
        driveMotorS(-0.3);
    }else{
        driveMotorS(0);
    }
    return true;
}
//↓回収用
bool CATCH_NO(int rx_data,int &tx_data){
    catch_no.move(rx_data);
    return true;
    }

int main(){
    timer.start();
    slave.addCMD(17,Hassya);
    slave.addCMD(20,CATCH_NO);
    slave.addCMD(21,Up);
    while(true);
}