File content as of revision 5:17ede03f1fa5:

#include "mbed.h"
#include "device.h"

int addr[MOTOR_NUM] = {IIC_ADDR1, IIC_ADDR2, IIC_ADDR3, IIC_ADDR4};

int controlMotor(int ch, int frequency)
{    
    int dir = COAST;
    int size = 4;
    if(ch < 0 || ch > 3)
    {
        //channel error
        return 0;
    }
    else
    {
        // オドメトリ用に周波数を保存
        my_odometry.wheel_frequency[ch] = frequency;
        if(frequency > 0)
        {
            dir = CW;
        }
        else if(frequency < 0)
        {
            dir = CCW;
            frequency = -frequency;
        }
        else
        {
            dir = BRAKE;
        }
        // 周波数制限 脱調を防ぐ
        if(frequency > MaxFrequency) frequency = MaxFrequency;
        //else if(frequency < MinFrequency) frequency = MinFrequency;
        
        master.writeSomeData(addr[ch], PWM_FREQUENCY, frequency, size);
        master.writeSomeData(addr[ch], MOTOR_DIR, dir, size);
        
        return frequency;
    }   
}


void coastAllMotor()
{
    for(int i = 0; i < MOTOR_NUM; i++)
    {
        // オドメトリ用に周波数を保存
        my_odometry.wheel_frequency[i] = 0;
        master.writeSomeData(addr[i], MOTOR_DIR, COAST, 4);
    }
}