File content as of revision 8:3eb58ae94a93:

#include "mbed.h"
#include "rtos.h"

Serial pc(USBTX, USBRX);
PwmOut Dou1(p21);
PwmOut Asi1(p23);
PwmOut Dou2(p22);
PwmOut Asi2(p24);

char c;


int zen1=0;
int go1=0;
int zen2=0;
int go2=0;
int dou1=0;

void HANTEI(void const *argument) {
 while(true){
        if(pc.readable()==1){
        c=pc.getc();
        switch(c){
        case'g':
            zen1=1;
            c=0;
            pc.printf("go\n");
            break;
            
        case'n':
            zen1=0;
            go1=0;
            c=0;
            pc.printf("stop\n");
            break;
            
        case'z':
            go1=1;
            c=0;
            pc.printf("zen\n");
            break;
            
       case'c':
            zen2=1;
            c=0;
            pc.printf("go\n");
            break;
            
        case'p':
            zen2=0;
            go2=0;
            c=0;
            pc.printf("stop\n");
            break;
            
        case'x':
            go2=1;
            c=0;
            pc.printf("zen\n");
            break;
            
        case'd':
            dou1=1;
            c=0;
            pc.printf("dou\n");
            break;       
        }
    }
}
}


 void ZENGO1(void const *argument) {
  Asi1.period(0.00001); 
 while(true){
     if(go1==1){
            Asi1.pulsewidth(0.00000f);
        }
    else if(zen1==1){
            Asi1.pulsewidth(0.00001f);
        }
    else{
        Asi1.pulsewidth(0.000005f);
        }
    }
}

 void ZENGO2(void const *argument) {
  Asi2.period(0.00001); 
 while(true){
     if(zen2==1){
            Asi2.pulsewidth(0.000006f);
        }
    else if(go2==1){
            Asi2.pulsewidth(0.000004f);
        }
    else{
        Asi2.pulsewidth(0.000005f);
        }
    }
}
 
 void DOU1(void const *argument) {
  Dou1.period(0.00001); 
  int i=1;
  int d=1;
 while(true){
     if(dou1==1){
        switch(d){
            case 1:
            Dou1.pulsewidth(0.000004f);
            i=i++;
            wait(0.02);
            if(i>50)d=2;
            break;
            
            case 2:
            Dou1.pulsewidth(0.000006f);
            i=i--;
            wait(0.02);
            if(i>2){
                d=1;
                dou1=0;
                }
            break;
            }
        }
    }
}
 
 
int main() {
    Thread t1(HANTEI);
    Thread t2(ZENGO1);
    Thread t3(ZENGO2);
    Thread t4(DOU1);

    pc.printf("start\n");
    
while(1);
}