File content as of revision 4:1326902ac7cd:

#include "2017_3_b.h"
#include "mbed.h"
#include <math.h>
#include "MD_PID.h"
#include "QEI.h"

Omni_3 Omni(p21, p18, p11, p12, p22, p17, p27, p28, p23, p16, p29, p30, 1);

Serial pc (USBTX, USBRX);
I2CSlave slave(p9, p10);

DigitalOut check1(LED1);

union Get_data{
    char alldata[3];
    struct{
        signed int x :8;
        signed int y :8;
        signed int t :8;
    }data;
}act;

int main() {
    Omni.Drive(0, 0, 0);
    float x, y, st;
    
    slave.address(0x08);
    while(1) {
        int i = slave.receive();
        check1 = 0.0;
        switch (i) {
            case I2CSlave::ReadAddressed:    
                check1 = check1 ^ 1;
                break;
            case I2CSlave::WriteGeneral:
                slave.read(act.alldata, 3);
                check1 = check1 ^ 1;
                break;
            case I2CSlave::WriteAddressed:
                slave.read(act.alldata, 3);
                check1 = check1 ^ 1;
                x  = (float)act.data.x / 127.0;
                y  = (float)act.data.y / 127.0;
                st = (float)act.data.t / 127.0 * 0.1;
                break;
        }
        Omni.Drive(x, y, st);
        
        for(int i = 0; i < 3; i++) act.alldata[i] = 0;
        
    }
}