File content as of revision 0:48dbc1f972f1:

#include "mbed.h"
#include "rori.h"

DigitalIn ins(D12);
DigitalIn intt(D5);
PwmOut outs(D6);
PwmOut outt(D3);
DigitalOut outs_admin(D9);
DigitalOut outt_admin(D4);
//RORI roris(PA_0_ALT1,PA_1_ALT1);
RORI rorit(PA_4_ALT0,PB_0_ALT0);
Serial serial(USBTX,USBRX);

/*
DigitalIn ins(D13);
DigitalIn intt(D11);
PwmOut outs(D5);
PwmOut outt(D3);
DigitalOut outs_admin(D12);
DigitalOut outt_admin(D10);
RORI roris(PA_0_ALT1,PA_1_ALT1);
RORI rorit(PA_4_ALT0,PB_0_ALT0);
Serial serial(USBTX,USBRX);
*/
long roris_l = 0;
long rorit_l = 0;
int bunkais = 1024;
int bunkait = 1024;
float angs = 0;
float angt = 0;
int counts = 1;
int countt = 1;
bool start_lock = false;
long lasts= 0;
long lastt = 0;

DigitalIn inlock_f(D2);
PwmOut lock(D11);
/*
DigitalIn inlock_f(D15);
PwmOut lock(D14);
*/
DigitalOut leds(D0);
DigitalOut ledt(D1);
bool flags = false;
bool flagt = false;
/*
DigitalIn discr1(D14);
DigitalIn discr2(D15);
DigitalOut fieldColor(D13);
DigitalOut cloth(D12);
*/


int main(){
    ins.mode(PullDown);
    intt.mode(PullDown);
    inlock_f.mode(PullDown);

    outs.period_ms(1);
    lock.period_ms(1);
    while(1){
        if(start_lock){
            serial.printf("%s","start");
            serial.printf("%d",inlock_f.read());
            while(!inlock_f.read()){
                lock = 0.2;
                serial.printf("%s\n","while");
            }
            serial.printf("%s\n","out");
            lock = 0;
            start_lock = false;
            }
        if(ins.read()){
            outs = 0.1f;
            //roris.read(&roris_l);//
            if(roris_l == lasts){
                flags = !flags;
                leds = (flags)?1:0;
            }
            angs = (float)roris_l/bunkais;//ang
            angs *= 360;//deg
            //serial.printf("%s",":");
            //serial.printf("%f\n",angs);
            if(abs(angs) > 90*counts){
                counts++;
                outs = 0;
                outs_admin = 1;
                wait(1);
                outs_admin = 0;
                }
            lasts = roris_l;
            
        }else{
            outs = 0;
            }
        
        if(intt.read()){
            outt = 0.1f;
            rorit.read(&rorit_l);
            if(rorit_l == lastt){
                flagt = !flagt;
                ledt = (flagt)?:0;
            }
            angt = (float)rorit_l/bunkait;
            angt *= 360;
            if(abs(angt) > 120*countt){
                countt++;
                outt = 0;
                outt_admin = 1;
                wait(0.5f);
                outt_admin = 0;
                }
            lastt = rorit_l;
        }else{
            outt = 0;
            }
            
        }
    }
/*
    int Discrimination(bool hoge){
        bool discColor;
        bool discMode;
        discColor=discr1;
        discMode=discr2;
        if(hoge){
            fieldColor=discr1;
            cloth=discr2;
            }else{
                return 0;
                }
                return 1;
        }
*/