File content as of revision 0:1d374dc2ea76:

#include "mbed.h"
#define MAX_IMU_SIZE 29
#include <vector>
#include <sstream>
// transmitter side
// initialize input sourse
DigitalOut myled(LED1);
//active low
DigitalIn leftW(p21);
DigitalIn leftR(p22);
DigitalIn rightW(p23);
DigitalIn rightR(p24);
AnalogIn base(p20);
AnalogIn lower(p19);
AnalogIn upper(p18);
AnalogIn cutter(p17);
//initialize seiral communication

Serial xbee_t(p13, p14);  // tx, rx  send

//received data 
double D_IMU_Y=0;
double D_IMU_P=0;
double D_IMU_R=0;
//value to be sent through serial
//s1 base, s2 lower joint, s3 upper joint, s4 cutter
int s1,s2,s3,s4;
// m1 left motor, m2 right motor
// 0 stop, 1 forward mid speed, 2 reverse mid speed
int m1,m2;
//pack data into three double number
double syn_1,syn_2,syn_3;


int main()
{
    while(1) {
        //translate controller reading
        // into integer 0 min 90 max
        s1=(int)(base*90.0);
        s2=(int)(lower*90.0);
        s3=(int)(upper*90.0);
        s4=(int)(cutter*90.0);
        //left motor
        if (leftW == 0 && leftR ==1) {m1 = 1;}
        if (leftW == 1 && leftR ==0) {m1 = 2;}
        if (leftW == 1 && leftR ==1) {m1 = 0;}
        //right motoer
        if (rightW == 0 && rightR ==1) {m2 = 1;}
        if (rightW == 1 && rightR ==0) {m2 = 2;}
        if (rightW == 1 && rightR ==1) {m2 = 0;}
        // encode data for sending
        syn_1=s1+s2/100.0;
        syn_2=s3+s4/100.0;
        syn_3=m1+m2/100.0;
        //send massage
        xbee_t.printf("#YPR,%2.2f,%2.2f,%2.2f\n",syn_1,syn_2,syn_3);
        myled = !myled;
        wait(0.1);
    }
}