File content as of revision 0:193dcda90d39:

#include"mbed.h"
#include"ikarashiMDC.h"
#include"PS3.h"
#define PI 3.14159265
Serial serial(PC_6,PC_7);
DigitalOut serialcontrol(D2);

    ikarashiMDC ikarashi[] {
    ikarashiMDC(&serialcontrol,2,0,SM,&serial),
    ikarashiMDC(&serialcontrol,2,1,SM,&serial),
    ikarashiMDC(&serialcontrol,2,2,SM,&serial),
    ikarashiMDC(&serialcontrol,2,3,SM,&serial),
    ikarashiMDC(&serialcontrol,1,0,SM,&serial)
};

PS3 ps3(PC_10,PC_11);
Serial pc(USBTX,USBRX,115200);

double way(double x,double y,double direction)
{
    double atanval;
    atanval = atan2(y,x);
    return sin(atanval - direction);
}

int main() 
{
    serial.baud(115200);
    ikarashi[0].braking = true;
    int b[12],stick[4],trigger[2],neutral[4],count = 0;
    double X,Y,acc[5];
    /*ジョイスティック　ニュートラル設定*/
    do{
        for(int i = 0;i < 4;i++) {
            neutral[i] = ps3.getStick(i);
            pc.printf("%4d",neutral[i]);
        }
        count++;
    }while(count <= 115200);
    for(int i = 0;i < 4;i++) {
        neutral[i] = ps3.getStick(i);
        pc.printf("%4d",neutral[i]);
    }
    while(1){
          /*ボタン０＝上　１＝下　２＝左　３＝右　４＝L１　５＝R１　６＝△　７＝✖
          ８＝🔲　９＝◯　１０＝L３　１１＝R３*/
          for(int i=0;i < 12;i++) {
              b[i] = ps3.getButton(i);
              pc.printf("%d",b[i]);
          }
          /*ジョイスティック*/
        for(int i = 0;i < 4;i++){
            stick[i] = ps3.getStick(i);
            pc.printf("%4d\r\n",stick[i]);
            }
        
        for(int i = 0;i < 2;i++) {
            trigger[i] = ps3.getTrigger(i);
            pc.printf("%4d\r\n",trigger[i]);
    }
     X = stick[0] - neutral[0];
     Y = neutral[1] - stick[1]; 
     if( abs(X) <= 20 && abs(Y) <= 20){
         acc[0] = 0;
         acc[1] = 0;
         acc[2] = 0;
     }else { 
             acc[0] = way(X,Y,PI/6);
             acc[1] = way(X,Y,PI*3/2);
             acc[2] = way(X,Y,PI/5/6);
            }
    if(b[4] == 1 && abs(X) <= 20 && abs(Y) <= 20){
             acc[0] = 1;
             acc[1] = 1;
             acc[2] = 1;
            }
    if(b[5] == 1 && abs(X) <= 20 && abs(Y) <= 20){
             acc[0] = -1;
             acc[1] = -1;
             acc[2] = -1;
            }
    if(b[7] == 1){
        acc[0] = 0;
        acc[1] = 0;
        acc[2] = 0;
        }
    if(trigger[0] == 0 && trigger[1] == 0) {
        acc[3] = 0;
    }
    if(trigger[0] >= 1 && trigger[1] == 0) {
        acc[3] = 0.4;
    }
    if(trigger[0] == 0 && trigger[1] >= 1) {
        acc[3] = -0.4;
    }
    if(trigger[0] >= 1 && trigger[1] >= 1) {
        acc[3] = 0;
    }
            ikarashi[0].setSpeed(acc[0]);
            ikarashi[1].setSpeed(acc[1]);
            ikarashi[2].setSpeed(acc[2]);
            ikarashi[3].setSpeed(acc[3]); 
    for(int i = 0;i < 4;i++) {
        pc.printf("%f\r\n",acc[i]);
        }
    
    }

}