File content as of revision 5:4b841637618e:

#include "mbed.h"
#include "Motor.h"
#include "MCP.h"
#include "XBee.h"
#include <stdint.h>

#define SDA PB_7
#define SCL PB_6
#define MCP_ADDRESS 0x40

MCP MCP(SDA, SCL, MCP_ADDRESS);
XBEE::ControllerData *controller;
MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];

/* ↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓ */
//ピン名変更
#define FL 0
#define FR 1
#define BL 2
#define BR 3
#define CC 4
#define Lim0 0
#define Lim1 1
#define AIR0 2
#define AIR1 3
#define AIR2 4
#define SL0 5
#define SL1 6

//リミットスイッチ　読み取る
int g = MCP.Read(0);
const int omni[15][15] = {
    {    0,     5,    21,     47,     83,    130,    187,    255,    255,    255,    255,    255,    255,    255,    255 },
    {   -5,     0,     5,     21,     47,     83,    130,    187,    193,    208,    234,    255,    255,    255,    255 },
    {  -21,    -5,     0,      5,     21,     47,     83,    130,    135,    151,    177,    213,    255,    255,    255 },
    {  -47,   -21,     5,      0,      5,     21,     47,     83,     88,    104,    130,    167,    213,    255,    255 },
    {  -83,   -47,    -21,     5,      0,      5,     21,     47,     52,     68,     94,    130,    177,    234,    255 },
    { -130,   -83,    -47,    -21,     5,      0,      5,     21,     26,     42,     68,    104,    151,    208,    255 },
    { -187,  -130,    -83,    -47,    -21,    -5,      0,      5,     10,     26,     52,     88,    135,    193,    255 },
    { -255,  -187,   -130,    -83,    -47,    -21,    -5,      0,      5,     21,     47,     83,    130,    187,    255 },
    { -255,  -193,   -135,    -88,    -52,    -26,    -10,    -5,      0,      5,     21,     47,     83,    130,    187 },
    { -255,  -208,   -151,   -104,    -68,    -42,    -26,    -21,    -5,      0,      5,     21,     47,     83,    130 },
    { -255,  -234,   -177,   -130,    -94,    -68,    -52,    -47,    -21,    -7,      0,      7,     21,     47,     83 },
    { -255,  -255,   -213,   -167,   -130,   -104,    -88,    -83,    -47,    -21,    -5,      0,      5,     21,     47 },
    { -255,  -255,   -255,   -213,   -177,   -151,   -135,   -130,    -83,    -47,    -21,    -5,      0,      5,     21 },
    { -255,  -255,   -255,   -255,   -234,   -208,   -193,   -187,   -130,    -83,    -47,    -21,    -5,      0,      5 },
    { -255,  -255,   -255,   -255,   -255,   -255,   -255,   -255,   -187,   -130,    -83,    -47,   -21,     -5,      0 }
};

const int curve[15] = { -204, -150, -104, -66, -38, -17, -4, 0, 4, 17, 38, 66, 104, 150, 204 };

//uint8_t SetStatus(int pwmVal);
//uint8_t SetPWM(int pwmVal);
/* ↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑ */

int main()
{

    XBEE::Controller::Initialize();
    MOTOR::Motor::Initialize();

    __enable_irq();

    /* ↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓ */



    /* ↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑ */

    while(1) {

        controller = XBEE::Controller::GetData();
        MCP.Update();

        /* ↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓ */
        //足回り
        //左スティック　向き + 右スティック　向き
        motor[FL].dir = MOTOR::Motor::SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X]  + curve[controller->AnalogR.X]);
        motor[FR].dir = MOTOR::Motor::SetStatus(omni[14-controller->AnalogL.Y][controller->AnalogL.X]  +curve[controller->AnalogR.X]);
        motor[BL].dir=MOTOR::Motor::SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X]  +  curve[controller->AnalogR.X]);
        motor[BR].dir=MOTOR::Motor::SetStatus(omni[14-controller->AnalogL.Y][controller->AnalogL.X]  +  curve[14-controller->AnalogR.X]);
        //左スティック　PWM  +  右スティック　PWM
        motor[FL].pwm=MOTOR::Motor::SetPWM(omni[controller->AnalogL.Y][controller->AnalogL.X]  + curve[controller->AnalogR.X]);
        motor[FR].pwm=MOTOR::Motor::SetPWM(omni[14-controller->AnalogL.Y][controller->AnalogL.X]  +  curve[14-controller->AnalogR.X]);
        motor[BR].pwm=MOTOR::Motor::SetPWM(omni[controller->AnalogL.Y][controller->AnalogL.X]  +  curve[controller->AnalogR.X]);
        motor[BL].pwm=MOTOR::Motor::SetPWM(omni[14-controller->AnalogL.Y][controller->AnalogL.X]  + curve[14-controller->AnalogR.X]);
        //回収
        if(controller-> Button.A) {
            motor[CC].pwm=50;
            motor[CC].dir = FOR;
        } 
        else if(controller-> Button.B) {
            motor[CC].pwm=50;
            motor[CC].dir=BACK;
        } 
        else {
            motor[CC].pwm=100;
            motor[CC].dir=BRAKE;
        }
        //リミットスイッチのプログラム
        if(Lim0==1 || Lim1==1) {
            motor[CC].pwm=100;
            motor[CC].dir=BRAKE;
        }

        //投射
        if(controller-> Button.Y) {
            MCP.Write(AIR2,1);
        } 
        else {
            MCP.Write(AIR2,0);
        }
        //スロープ
        if(controller-> Button.L) {
            MCP.Write(AIR1,1);
        } 
        else {
            MCP.Write(AIR1,0);
        }

            if(controller-> Button.ZL) {
                MCP.Write(SL1,1);
            } 
            else {
                MCP.Write(SL1,0);
            }

            //ストックボックス
            if(controller-> Button.R) {
                MCP.Write(AIR0,1);
            } 
            else {
                MCP.Write(AIR0,0);
            }
            
            if(controller-> Button.ZR) {
                MCP.Write(SL0,1);
            } 
            else {
                MCP.Write(SL0,0);
            }

            /* ↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑ */

            MOTOR::Motor::Update(motor);
        }
    }