File content as of revision 0:8f324e7a7491:

#include "mbed.h"
#include "ikarashiMDC.h"
#include "controller.h"
Controller pad(PC_10, PC_11, 208);
Serial pc(USBTX, USBRX, 115200);
Serial serial(PC_6,PC_7);
DigitalOut serialcontrol(D2);
DigitalOut stop(PB_12,PB_2);

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)
};

int main()
{
    serial.baud(115200);
    ikarashi[0].braking = true;
    int button[11];
    float stickRadian[2],stickNorn[2];
    double acc[4];
    while(1){
    //コントローラー通信
        if(pad.receiveState()){
            for(int i = 0; i < 13; i++){
                button[i] = pad.getButton1(i);
                pc.printf("%d ", button[i]);
            }
            for(int i = 0; i < 2; i++){
                stickRadian[i] = pad.getRadian(i);
                stickNorn[i] = pad.getNorm(i);
                pc.printf("%f %f\t", stickRadian[i], stickNorn[i]);
            }
            pc.printf("\n\r");
        
        //十字移動
            if(button[2] == 1 && button[3] == 0 && button[4] == 1 && button[5] == 1){
                stickNorn[0] = 1;
                stickRadian[0] = 1.570796;
            }else if(button[2] == 0 && button[3] == 1 && button[4] == 1 && button[5] == 1){
                stickNorn[0] = 1;
                stickRadian[0] = 0;
            }else if(button[2] == 1 && button[3] == 1 && button[4] == 0 && button[5] == 1){
                stickNorn[0] = 1;
                stickRadian[0] = 3.141593;
            }else if(button[2] == 1 && button[3] == 1 && button[4] == 1 && button[5] == 0){
                stickNorn[0] = 1;
                stickRadian[0] = -1.570796;
            }else if(stickNorn[0] == 0 && button[7] == 1 && button[9] == 1) {
                acc[0] = 0;
                acc[1] = 0;
                acc[2] = 0;
            }
        //全方位移動
            if(stickNorn[0] != 0){
                acc[0] = sin(stickRadian[0] - PI * 11 / 6);
                acc[1] = sin(stickRadian[0] - PI * 1 / 2);
                acc[2] = sin(stickRadian[0] - PI * 7 / 6);
            }
        //左右旋回
            if(button[9] == 0 && button[7] == 1 && stickNorn[0] == 0) {
                acc[0] = -0.5;
                acc[1] = -0.5;
                acc[2] = -0.5;
            }
            if(button[7] == 0 && button[9] == 1 && stickNorn[0] == 0) {
                acc[0] = 0.5;
                acc[1] = 0.5;
                acc[2] = 0.5;
            }
        //機構制御
            if(button[10] == 0 && button[8] == 1){
                acc[3] = -0.4;
            }
            if(button[8] == 0 && button[10] == 1){
                acc[3] = 0.4;
            }
            if(button[8] == button[10]) {
                acc[3] = 0;
            }
        //減速
            if(button[0] == 0) {
                for(int i = 0;i < 4;i++) {
                    if(acc[i] >= 0.5){
                        acc[i] = 0.5;
                    }
                    if(acc[i] <= -0.5) {
                        acc[i] = -0.5;
                    }
                }
            }
            pc.printf("%f %f %f %f",acc[0],acc[1],acc[2],acc[3]);
            ikarashi[0].setSpeed(acc[0]);
            ikarashi[1].setSpeed(acc[1]);
            ikarashi[2].setSpeed(acc[2]);
            ikarashi[3].setSpeed(acc[3]);
        }else{
            pc.printf("error\n\r");
                    ikarashi[0].setSpeed(acc[0]);
        ikarashi[1].setSpeed(0);
        ikarashi[2].setSpeed(0);
        ikarashi[3].setSpeed(0);
        }
    }
}