File content as of revision 1:797913662b1f:

#include "mbed.h"
#include "kbt.h"

KBT kbt(PA_9,PA_10);
Serial pc(USBTX,USBRX);

PwmOut rifrpl (PC_12);
PwmOut rifrmi (PA_13);
PwmOut ribapl (PA_14);
PwmOut ribami (PA_15);
PwmOut lefrpl (PB_7);
PwmOut lefrmi (PC_13);
PwmOut lebapl (PF_0);
PwmOut lebami (PC_2);
PwmOut servo (PC_3);
DigitalOut air (PB_10);

double map(double x, double in_min, double in_max, double out_min, double out_max)
{
  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}

double Abs ( double value ){
    if ( value < 0 )
      value = value*(-1);
    return value;
    }

int main() {
    
    kbt.init(2400);
    pc.baud(9600);
    
    while(1) {
        double Larpow = kbt.Stick[L_around];
        double Luppow = kbt.Stick[L_updown];
        
        int dir;
        
        double pow = 0;
        
        double Larpowabs = Abs(Larpow);
        double Luppowabs = Abs(Luppow);
        
        if (Larpowabs > Luppowabs){
           if (Larpow < 0){
              dir = 0;
              pow = Larpow*(-1);
              }
           else if (Larpow > 0){
              dir = 1;
              pow = Larpow;
              }
        }      
        else {
            if (Luppow < 0){
                dir = 2;
                pow = Luppow*(-1);
                } 
            else if (Luppow > 0){
                dir = 3;
                pow = Luppow;
                }
        }        
        
        pow = map(pow,0.0,255.0,0.0,1.0);
        
        switch (dir){
            case 0 :
               rifrpl = 0;
               rifrmi = pow;
               ribapl = pow;
               ribami = 0;
               lefrpl = pow;
               lefrmi = 0;
               lebapl = 0;
               lebami = pow;
               break;
            case 1 :
               rifrpl = pow;
               rifrmi = 0;
               ribapl = 0;
               ribami = pow;
               lefrpl = 0;
               lefrmi = pow;
               lebapl = pow;
               lebami = 0;
               break;
            case 2 :
               rifrpl = 0;
               rifrmi = pow;
               ribapl = 0;
               ribami = pow;
               lefrpl = 0;
               lefrmi = pow;
               lebapl = 0;
               lebami = pow;
               break;
            case 3 :
               rifrpl = pow;
               rifrmi = 0;
               ribapl = pow;
               ribami = 0;
               lefrpl = pow;
               lefrmi = 0;
               lebapl = pow;
               lebami = 0;
               break;
        }
        
        bool ser = kbt.Button[circle];
        servo.period_ms(20);
        if (ser == 1){
           servo.pulsewidth_us(700);
           wait(8);
           servo.pulsewidth_us(1500);
           wait(8);
           }
        
        bool ai = kbt.Button[triangle];
        if (ai == 1)
           air = 1;
        else
           air = 0;
     }
}