File content as of revision 9:10276c46b467:

//2018/02/24のやつ
#include "Process.h"
#include "mbed.h"
#include "../../Communication/XBee/XBee.h"
#include "../../Input/Switch/Switch.h"
#include "../../Output/Motor/Motor.h"
#include "../../Output/Servo/Servo.h"

//_____________________


/*---------------- HOW TO WRITE ----------------/

    ・motor の割り当てを決める
        #define TIRE_L 1

    ・リミットスイッチの割り当てを決める
        #define ARM_L 1

    ・他にも自由に定義してもいいです (pwmとか)

/---------------- HOW TO WRITE ----------------*/
//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓
bool up_flag = true;
bool down_flag = true;
double s = 0;
double n = 0;
double ao = 0;
double aka = 0;
int zone = 1;//1で青 0で赤


DigitalOut deng1(A7);
DigitalOut deng2(A6);

//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
//_____________________

//#define USE_USB_SERIAL
#ifdef USE_USB_SERIAL
#endif
XBEE::ControllerData *controller;
MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
using namespace SWITCH;
void SystemProcess(void) {  
    while(true) {
        controller = XBEE::Controller::GetData();
//____________________________
/*------------------------ HOW TO WRITE ------------------------/

    ここにメインのプログラムを書く

    ・コントローラから受け取ったデータをもとに動作のプログラムを書く
     (コントローラのデータは controller-> で取る)

        if(controller->Button.RIGHT) {
            motor[TIRE_L].dir = FOR;
            motor[TIRE_R].dir = BACK;
            motor[TIRE_L].pwm = 12.3;
            motor[TIRE_R].pwm = 12.3;
        }

     motor[0].dirは     FOR   (正転)
                        BACK  (逆転)
                        BRAKE (ブレーキ)
                        FREE  (フリー)

     motor[0].pwmは     0.0(%) ~ 100.0(%)

     controllerは       XBee.hの構造体の中身

     (AnalogL・Rを使いたかったら、頑張って考える or 聞いてください)

    ・リミットスイッチの値をもとに動作のプログラムを書く

        if(Switch::CheckPushed(ARM_L))
        {
            if(controller->AnalogL.Y != 7)
            {
                if(controller->AnalogL.Y>7){
                    motor[ARM].dir = FOR;
                    motor[ARM].pwm = 80.0;
            }
            if(motor[ARM].dir == BACK)
            {
                motor[ARM].dir = BRAKE;
            }
        }

     →関数 Switch::CheckPushed の引数はリミットスイッチの名前 (limitSw[0]みたいな), 返り値はbool型 (true or false)

    ・他にもやりたいことがあったら自由にどうぞ

    ps.わからないことがあったら聞いてください

/------------------------ HOW TO WRITE ------------------------*/
//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓
if(zone == 1)
{
    n = 53.8;
    if(controller->Button.ZR || controller->Button.ZL)
    {
        if(controller->Button.ZR)
        {
        motor[3].dir = FOR;
        motor[3].pwm = s;
        }
        if(controller->Button.ZL)
        {
        motor[4].dir = FOR;
        motor[4].pwm = 52;
        }
    }else
    {
        motor[3].dir = FREE;
        motor[4].dir = FREE;
    }
}else
{
    n = 57.9;
    if(controller->Button.ZR || controller->Button.ZL)
    {
        if(controller->Button.ZR)
        {
        motor[3].dir = FOR;
        motor[3].pwm = 48;
        }
        if(controller->Button.ZL)
        {
        motor[4].dir = FOR;
        motor[4].pwm = s;
        }
    }else
    {
        motor[3].dir = FREE;
        motor[4].dir = FREE;
    }
}   

//足回り
if(controller->AnalogR.Y == 7)
{
     motor[0].dir =FREE;
}
else if(controller->AnalogR.Y > 7)
    {
        motor[0].dir = FOR;
        motor[0].pwm = (controller->AnalogR.Y - 7) * 14;
    }else
    {
        motor[0].dir = BACK;
        motor[0].pwm = (7 - controller->AnalogR.Y) * 14;
    }

if(controller->AnalogL.Y == 7)
{
    motor[1].dir =FREE;
}else
{
    if(controller->AnalogL.Y < 7)
    {
        motor[1].dir = FOR;
        motor[1].pwm = ( 7 - controller->AnalogL.Y) * 14;
    }else{
        motor[1].dir = BACK;
        motor[1].pwm = (controller->AnalogL.Y - 7) * 14;
    }
}

if(controller->Button.UP || controller->Button.DOWN || controller->Button.LEFT || controller->Button.RIGHT )
{
    if(controller->Button.UP)
    {
        motor[0].dir = BACK;
        motor[0].pwm =20;
        motor[1].dir = FOR;
        motor[1].pwm =20;
    }
    if(controller->Button.DOWN)
    {
        motor[0].dir = FOR;
        motor[0].pwm =77;
        motor[1].dir = BACK;
        motor[1].pwm =74;
    }
    if(controller->Button.LEFT)
    {
        motor[0].dir = BACK;
        motor[0].pwm =20;
        motor[1].dir = BACK;
        motor[1].pwm =20;   
    }
    if(controller->Button.RIGHT)
    {
        motor[0].dir = BACK;
        motor[0].pwm =20;
        motor[1].dir = BACK;
        motor[1].pwm =20;
        motor[0].dir = FOR;
        motor[0].pwm =20;
        motor[1].dir = FOR;
        motor[1].pwm =20; 
    }
}

if(controller->Button.B)//
{
    motor[0].dir = FOR;
    motor[0].pwm =27;
    motor[1].dir = BACK;
    motor[1].pwm =24;
}else
{
    deng1 = 0;
}
if(controller->Button.L)
{
    deng1 = 1;
}else
{
    deng1 = 0;
}
if(controller->Button.R)
{
    deng2 = 1;
}else
{
    deng2 = 0;
}

if(controller->Button.START && up_flag )//速度変更用
{
    up_flag = false;
    s += 0.1;
}else if(controller->Button.SELECT && down_flag)
{
    down_flag = false;
    s -= 0.1;
}
if(!controller->Button.START)
{
    up_flag = true;
}
if(!controller->Button.SELECT)
{
    down_flag = true;
}

if(controller->Button.HOME)
{
    s = n;
}

if(controller->Button.Y || controller->Button.A)
{
    if(controller->Button.Y)
    {
        motor[2].dir = FOR;
        motor[2].pwm =50;
    }
    if(controller->Button.A)
    {
        motor[2].dir = BACK;
        motor[2].pwm =50;
    }
}else
{
    motor[2].dir =FREE;
}

//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
//____________________________

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