File content as of revision 0:0706f274e446:

/*****************

3輪オムニ用モータ回転計算式

参考
+ http://www50.atwiki.jp/okarobocon/pages/13.html

+ use robocup junior program

    /////////////////
+ use servo library

    Servo use PwmOutPin{p21~p26}.
///////////////////////////////////

Position Servo (full left, middle, full right) = (0.0, 0.5, 1.0)




******************/
#include "mbed.h"
#include <math.h>
#include "Servo.h"


#define MOTO_CYCLE 0.05
Serial pc(USBTX, USBRX);

Servo pwm[3] = {p21, p22, p23};
DigitalOut myled(LED1);

//Ticker Motor;

void move(int vxx, int vyy){
    /** motors print value operate***/
    float calculate[3] = {0};
    int i = 0;

    calculate[0] = vxx *(-1.0);
    calculate[1] = vxx *0.5 + vyy * (-(sqrt(3.0))/2.0);
    calculate[2] = vxx *0.5 + vyy * ((sqrt(3.0))/2.0);
    
    for(i =0; i < 3; i++){
        if(calculate[i] > 100){
            calculate[i] = 100;
        }else if(calculate[i] < -100){
            calculate[i] = -100;
        }
        pwm[i] =  0.5 + (calculate[i]/ 200.0);
    }
    pc.printf("motor:%f, motor:%f, motor:%f\n",calculate[0],calculate[1],calculate[2]);
    //±100を超えないように注意する
    /*
    pwm[0] = 0;    
    pwm[1] = 0;
    pwm[2] = 0;
    */

}

int main() {
    
    //Motor.attach(&motor_printf, MOTOR_CYCLE); /*周期割り込みでモーターが動く*/
    
    int vx, vy;
    float range = 0.5;
    printf("- Position Servo (full left, middle, full right) = (0.0, 0.5, 1.0)\n");
    move(0,0);
    
    //pwm[0].calibrate(range, 45.0);
    //pwm[1].calibrate(range, 45.0);
    //pwm[2].calibrate(range, 45.0); 
    while(1) {
        vx = 0;
        vy = 0;
        
        /*example move*/
         switch(pc.getc()){
            case '1': vx = vy = -100; break;
            case '2': vx = vy = 0; break;
            case '3': vx = vy = 100; break;
             
        }
        move(vx,vy);
        
        //vy = pc.gets();
        
        
    }
}