File content as of revision 0:617b63d4a532:

#include "mbed.h"
#include <math.h>
#include <sstream>

DigitalOut myled(LED1);

Serial      motor(p13,p14);//tx,rx
extern string StringFIN;
extern void array(int,int,int,int);

int speed[4] = {0};
int x = 0, y = 0,i;


//通信（モータ用）
void tx_motor(){
    array(speed[0],speed[1],speed[3],speed[2]);
    motor.printf("%s",StringFIN.c_str());
}

void move(int vx, int vy){
    double pwm[4] = {0};
    
    pwm[0] = 0;
    pwm[1] = -100;//(double)((-0.5 * vx) + ((sqrt(3.0) / 2.0)  * vy));
    pwm[2] = //(double)((-0.5 * vx) + ((-sqrt(3.0) / 2.0) * vy));
    pwm[3] = 100;//(double)((vx));
    for(i = 0; i < 4; i++){
        if(pwm[i] > 100){
            pwm[i] = 100;
        } else if(pwm[i] < -100){
            pwm[i] = -100;
        }
        speed[i] = pwm[i];
    }
}
int main() {
    
     wait(1);
    motor.baud(115200);                             //ボーレート設定
    motor.printf("1F0002F0003F0004F000\r\n");       //モータ停止
    motor.attach(&tx_motor,Serial::TxIrq);          //送信空き割り込み（モータ用）
    
    
    x = -10;
    y = 10;
    move(x,y);
    while(1) {
         wait(1);
    }
}