File content as of revision 1:6ba905bf8eb1:

#include "mbed.h"
#include "ACM1602NI.h"
BusIn sw(p22,p29,p21,p10,p23,p12,p24,p22);
BusIn t(p9,p11);
BusIn ajust(p29,p30);
DigitalIn paul1(p5,PullUp);
DigitalIn paul2(p6,PullUp);
DigitalIn paul3(p7,PullUp);
DigitalIn paul4(p8,PullUp);
AnalogIn r(p17);
AnalogIn l(p15);
//BusOut led(LED1,LED2);
BusOut led(p25,p26);
Serial robo(p13,p14);
ACM1602NI lcd(p28,p27);
int main() {
    char data,ro,lo;
    int8_t tilt = 0,ajst = 0;
    double dt,ra,la;
    t.mode(PullUp);
    sw.mode(PullUp);
    ajust.mode(PullUp);
    while(1) {
        ra = r;
        la = l;
        ro = ((ra-0.20)/0.65)*254;
        lo = ((la-0.14)/0.68)*254;
        ajst = ajust;
        
        if(t == 2){
            dt = dt+0.02;
            led = 1;
        }
        if(t == 1){
            dt = dt-0.02;
            led = 2;
        }
        if (paul1 == 0){
            dt = 10;
        }
        if (paul2 == 0){
            dt = 20;
        }
        if (paul3 == 0){
            dt = -10;
        }
        if (paul4 == 0){
            dt = -20;
        }
        tilt = dt;
        data = sw;
        robo.putc(255);
        robo.putc(~data);
        robo.putc(tilt);
        robo.putc(ro);
        robo.putc(lo);
        robo.putc(ajst);
        robo.putc(~data^tilt^ro^lo);
        //printf("%d\n\r",~data);
        //printf("%lf--%lf\n\r",ra,la);
        printf("%d---%d\n\r",ro,lo);
        lcd.printf("tilt :%3d\n",tilt);
        //lcd.printf("tilt :%d\n",tilt);
        lcd.locate(0,0);
    }
}