File content as of revision 0:5feeeb404a6a:

#include "mbed.h"
#include "PS_PAD.h"


//入力pin設定
PS_PAD vsc3(PA_7,PA_6,PA_5,PB_6);


//出力pin設定
//RIGHT
PwmOut MRA (PA_11);
PwmOut MRB (PB_13);
//LEFT
PwmOut MLA (PB_14);
PwmOut MLB (PB_15);


//SERVO
PwmOut s1 (PC_9);//raise
PwmOut s2 (PB_8);//grab
PwmOut s3 (PB_9);//table


//joystick
int RY;
int LY;

double du;

int main()
{

    vsc3.init();

    MRA.period(0.002);
    MRB.period(0.002);
    MLA.period(0.002);
    MLB.period(0.002);

    s1.period_us(20000);
    s2.period_us(20000);
    s3.period_us(20000);


    while(1) {

        vsc3.poll();

        RY = vsc3.read(PS_PAD::ANALOG_RY);
        LY = vsc3.read(PS_PAD::ANALOG_LY);


        //サーボ操作
        if(vsc3.read(PS_PAD::PAD_TOP)) {
            s1.pulsewidth_us(400);
        } else if(vsc3.read(PS_PAD::PAD_BOTTOM)) {
            s1.pulsewidth_us(1550);
        } else if(vsc3.read(PS_PAD::PAD_RIGHT)) {
            s2.pulsewidth_us(1700);
        } else if(vsc3.read(PS_PAD::PAD_LEFT)) {
            s2.pulsewidth_us(1350);
        } else if(vsc3.read(PS_PAD::PAD_TRIANGLE)) {
            s3.pulsewidth_us(1550);
        } else if(vsc3.read(PS_PAD::PAD_X)) {
            s3.pulsewidth_us(1900);
        } else;

        //速度設定
        if(vsc3.read(PS_PAD::PAD_L1)) {
            du = 0.2;
        } else if(vsc3.read(PS_PAD::PAD_R1)) {
            du = 0.99;
        } else {
            du = 0.4;
        }
        
        
        wait(0.05);


        //右車輪
        if (-25 < RY < 25) {
            MRA = 0;
            MRB = 0;
        }
        if(RY < -25) {
            MRA = du;
            MRB = 0;
        }
        if(25 < RY) {
            MRA = 0;
            MRB = du;
        }


        //左車輪
        if (-25 < LY < 25) {
            MLA = 0;
            MLB = 0;
        }
        if(LY < -25) {
            MLA = du;
            MLB = 0;
        }
        if(25 < LY) {
            MLA = 0;
            MLB = du;
        }

    }

}