File content as of revision 2:0428390d7c90:

#include "mbed.h"
#include "air.hpp"
#include "sbdbt.hpp"
#include "Servo.h"
sbdbt ds3(A0, A1);
DigitalIn limitA(PA_9,PullUp);
Air hassya(PA_0);
Servo myservo(PB_0);
Timer timer;
//↓モータ用
void driveMotorS(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（未実装）
void Servo(bool data){
    if(data==0){
    myservo = 0;    
    }else{
    myservo = 0.2;
    }
}
//↓発射用
void Hassya(bool data,int tim){
    if(data==1 || timer.read_ms()-tim<3000){
        if(timer.read_ms()-tim>2000){
            hassya.move(1);
        }else{
            hassya.move(0);
        }
        if(timer.read_ms()-tim>1000) Servo(1);
    }else{
        if(limitA){
            driveMotorS(0);
            Servo(0);
        }else{
            driveMotorS(0.06);
        }
    }
}
int main(){
    //↓宣言
    bool shoot;
    int tim,old_square=0;
    timer.start();
    while(true){
        //コントローラ関係
        if(old_square<ds3.square() && (!shoot || limitA)){
            
            shoot=!shoot;
            tim=timer.read_ms();
        }
        old_square=ds3.square();
        //関数
        Hassya(shoot,tim);
        }
}