File content as of revision 0:a1535b0b1c12:

//リフト上げ条件センサ2つ

#include "mbed.h"

DigitalIn in1(PTE21);//左
DigitalIn in2(PTE20);//左中
DigitalIn in3(PTE23);//右中
DigitalIn in4(PTE22);//右

DigitalOut led1(PTB8);//左
DigitalOut led2(PTB9);//左中
DigitalOut led3(PTB10);//右中
DigitalOut led4(PTB11);//右

BusOut cmotor(PTA1,PTA2);
PwmOut vc(PTD4);
BusOut lmotor(PTC0,PTC7);
PwmOut vl(PTA12);
BusOut rmotor(PTC6,PTC5);
PwmOut vr(PTA4);

int main() {
    while(1) {
        if(in1 == 1)//黒の時光る 1:白 0:黒
        led1 = 0;//1:光る 0:光らない
        else
        led1 = 1;
        
        if(in2 == 1)
        led2 = 0;
        else
        led2 = 1;
        
        if(in3 == 1)
        led3 = 0;
        else
        led3 = 1;
        
        if(in4 == 1)
        led4 = 0;
        else
        led4 = 1;
        
        ///////////////////////         
        if(in2 == 0 && in3 == 0)
        {
            lmotor = 0;
            vl = 0.0f;
            rmotor = 1;
            vr = 0.1f;
        }
        else if(in2 == 0 && in3 == 1)
        {
            lmotor = 0;
            vl = 0.0f;
            rmotor = 1;
            vr = 0.1f;
        }
        else if(in2 == 1 && in3 == 0)
        {
            lmotor = 1;
            vl = 0.1f;
            rmotor = 1;
            vr = 0.1f;
        }
        else
        {
            lmotor = 1;
            vl = 0.1f;
            rmotor = 0;
            vr = 0.0f;
        }
        
        if(in1 == 0 && in4 == 0)
        {
            cmotor = 1;
            vc = 0.5f;
            lmotor = 0;
            vl = 0.0f;
            rmotor = 0;
            vr = 0.0f;
            wait(0.5);
            cmotor = 0;
            vc = 0.0f;
            lmotor = 0;
            vl = 0.0f;
            rmotor = 0;
            vr = 0.0f;
            wait(10);
        }
    }
}