File content as of revision 1:79522b611923:

#include "mbed.h"
#include "string"
#define INT_TIME 0.02


Ticker timer;
RawSerial pc(USBTX,USBRX,115200);
RawSerial Master(D5,D4,115200);

DigitalIn sw2(D2);
DigitalIn sw3(D3);
DigitalIn sw6(D6);
DigitalIn sw7(D7);
DigitalIn sw8(D8);
DigitalIn sw9(D9);
DigitalIn sw10(D10);

AnalogIn joyL_x(A6);
AnalogIn joyL_y(A5);
AnalogIn joyR_x(A4);
AnalogIn joyR_y(A3);

char global_x = 0, global_y = 0, global_rot = 0, global_buttons = 0b00000000;

bool per_rotR, pre_rotL, pre_up, pre_down, pre_handR, pre_handL, pre_other;

bool sw_in(int sw, int pre_sw){
    bool rt_sw;
    if (sw == true && pre_sw == false) rt_sw = true;
    else rt_sw = false;
    return rt_sw;
}

void timer_warikomi(){
    
    double d_joyx = joyR_x.read();
    double d_joyy = joyR_y.read();
    
    bool rotR = sw2.read();
    bool rotL = sw3.read();
    bool up = sw6.read();
    bool down = sw7.read();
    bool handR = sw8.read();
    bool handL = sw9.read();
    bool other = sw10.read();
    
    char buttons = 0b00000000;
    
    if(sw_in(up,pre_up))       buttons |= 0b00000001;
    if(sw_in(down,pre_down))   buttons |= 0b00000010;
    if(sw_in(handR,pre_handR)) buttons |= 0b00000100;
    if(sw_in(handL,pre_handL)) buttons |= 0b00001000;
    if(sw_in(other,pre_other)) buttons |= 0b00010000;
    
    if(d_joyx < 132 && d_joyx > 122) d_joyx = 127;
    if(d_joyy < 132 && d_joyy > 122) d_joyy = 127;
    
    char joyx = char(int(255.0 * d_joyx));
    char joyy = char(int(255.0 * d_joyy));
    char rot  = char(127 + 100*sw_in(rotR,per_rotR)- 100*sw_in(rotL,pre_rotL));
    
    global_x = joyx;
    global_y = joyy;
    global_rot = rot;
    global_buttons = buttons;
    
    Master.putc(joyx);
    Master.putc(joyy);
    Master.putc(rot);
    Master.putc(buttons);
    Master.putc('\n');
    
    per_rotR = rotR;
    pre_rotL = rotL;
    pre_up = up;
    pre_down = down;
    pre_handR = handR;
    pre_handL = handL;
    pre_other = other;
}

int main()
{
    
    timer.attach(&timer_warikomi,INT_TIME);
    
    while(true) {
        pc.printf("%d%d%d%d\n",global_x,global_y,global_rot,global_buttons);
        wait(0.02);
    }
}