File content as of revision 0:43eac3418598:

// Gyro test07
// Akidukidensi AE-GYRO-SMD
// with 2Gyro+2Servo
#include "mbed.h"
#include "TextLCD0420.h"

#define ON 1
#define OFF 0
#define Gy1_offset 0.01

DigitalOut mled0(LED1);
DigitalOut mled1(LED2);
AnalogIn gy1_adc(p16);
AnalogIn gy2_adc(p17);
PwmOut servo1(p21);
PwmOut servo2(p22);

TextLCD lcd(p24, p25, p26, p27, p28, p29, p30,20,4); // rs, rw, e, d0, d1, d2, d3

double round3(double x){
  double y;
  y=double(int((x+0.005)*100))/100;
  return(y);
}

int main() {
  float gy1_center;
  float gy1_sgm=0;
  float gy1_wk0=0,gy1_wk1=0;
  float gy1_avg=0,gy1_sum;
  int i,gy1_lc=9,gy1_lc_old=0;
  float pwidth1;
  float gy2_center;
  float gy2_sgm=0;
  float gy2_wk0=0,gy2_wk1=0;
  float gy2_avg=0,gy2_sum;
  int gy2_lc=9,gy2_lc_old=0;
  float pwidth2;
  
  lcd.cls();
  lcd.locate(0,0);
  lcd.printf("*** Gyro test07 ****\n");
  servo1.period_ms(20);
  servo2.period_ms(20);

  gy1_center=0;
  gy2_center=0;
  for(i=0;i<300;i++){
    gy1_center=gy1_center+round3(gy1_adc.read()*3.3);
    gy2_center=gy2_center+round3(gy2_adc.read()*3.3);
    wait(0.001);
  }
  gy1_center=round3(gy1_center/300);
  gy2_center=round3(gy2_center/300);
  servo1.pulsewidth(0.0015);
  servo2.pulsewidth(0.0015);
  
  while(1){
    gy1_sum=0;
    gy2_sum=0;
    for(i=0;i<20;i++){
      gy1_sum=gy1_sum+round3(gy1_adc.read()*3.3);
      gy2_sum=gy2_sum+round3(gy2_adc.read()*3.3);
      wait(0.005);
    }
    gy1_avg=round3(gy1_sum/20);
    gy2_avg=round3(gy2_sum/20);
    
    gy1_wk1=round3((gy1_avg-gy1_center)*1000/5);
    gy2_wk1=round3((gy2_avg-gy2_center)*1000/5);
    if(gy1_wk1 > 0){
      gy1_wk1=gy1_wk1*1.07;// migi hosei
    }
    if(gy1_wk1 < 0){
      gy1_wk1=gy1_wk1*1.0;//hidari hosei
    }
    
    if(gy2_wk1 > 0){
      gy2_wk1=gy2_wk1*1.0;// migi hosei
    }
    if(gy2_wk1 < 0){
      gy2_wk1=gy2_wk1*1.1;//hidari hosei
    }
    
    gy1_sgm=round3(gy1_sgm+(gy1_wk0+gy1_wk1)*0.1/2);
    gy2_sgm=round3(gy2_sgm+(gy2_wk0+gy2_wk1)*0.1/2);
    gy1_wk0=gy1_wk1;
    gy2_wk0=gy2_wk1;
    
    if(gy1_sgm > 90){
      gy1_sgm=90;  
    }
    else if(gy1_sgm < -90){
      gy1_sgm=-90;
    }
    
    if(gy2_sgm > 90){
      gy2_sgm=90;  
    }
    else if(gy2_sgm < -90){
      gy2_sgm=-90;
    }

    pwidth1=-gy1_sgm;
    pwidth1=(pwidth1+90)/180/1000+0.001;
    gy1_lc=(gy1_sgm-5)/10+9;
    if(gy1_lc >20){
      gy1_lc=19;
    }
    if(gy1_lc <0){
      gy1_lc=0;
    }
    
    pwidth2=gy2_sgm;
    pwidth2=(pwidth2+90)/180/1000+0.001;
    gy2_lc=(gy2_sgm-5)/10+9;
    if(gy2_lc >20){
      gy2_lc=19;
    }
    if(gy2_lc <0){
      gy2_lc=0;
    }
    
    lcd.locate(0,1);
    //lcd.printf("%3.2f %3.2f %2.0f %2.1f",gy1_avg,gy1_center,gy1_sgm,pwidth*1000);
    //lcd.locate(0,2);
    lcd.printf("--------+--------");
    lcd.locate(gy1_lc_old,2);
    lcd.printf(" ");
    lcd.locate(gy1_lc,2);
    lcd.printf("*");
    gy1_lc_old=gy1_lc;
    servo1.pulsewidth(pwidth1);
    lcd.locate(gy2_lc_old,3);
    lcd.printf(" ");
    lcd.locate(gy2_lc,3);
    lcd.printf("*");
    gy2_lc_old=gy2_lc;
    servo2.pulsewidth(pwidth2);
  }//while    
}//main