File content as of revision 0:d463d5c04541:

#define ON 8
#define OFF 0
#define ESCMax 254
#define ESCMin 0

const int addr = 0x50; // define the I2C Address
char bl_FR[2], bl_BR[2], bl_BL[2], bl_FL[2], all, engine, key = 0, key_st = 0;
short front_r = 0, back_r = 0, front_l = 0, back_l = 0;

void securinit(){  
  
    i2c.write(addr+2, 0, 2); // Send command string to Motor Left
    i2c.write(addr+4, 0, 2); // Send command string  to Motor Back
    i2c.write(addr+6, 0, 2); // Send command string to Motor Front
    i2c.write(addr+8, 0, 2); // Send command string   to Motor Right
    return;  
}      

void updatei2c(){
    /*
    bl_F[0]= all; 
    bl_B[0]= all;
    bl_R[0]= all;
    bl_L[0]= all;
    */
    
    bl_FR[1]= front_r; 
    bl_BR[1]= back_r;
    bl_FL[1]= front_l;
    bl_BL[1]= back_l;
    
    i2c.write(addr+2, bl_FR, 2); // Send command string to Motor Left
    i2c.write(addr+4, bl_BR, 2); // Send command string  to Motor Back
    i2c.write(addr+6, bl_BL, 2); // Send command string to Motor Front
    i2c.write(addr+8, bl_FL, 2); // Send command string   to Motor Right
    return;
}    

void moteq(){ // motor equation
    all = 0;
    
    if(RC.throttles < 5 && RC.yaws < -200){
        if(key_st == 0)key = !key;
        key_st = 1;
    }
    else key_st = 0;
    if(key == 1) engine = ON;
    else engine = OFF; 

    
    
    front_r = engine + alti_con + yaw_con - pitch_con - roll_con; 
    
    if(front_r>ESCMax) front_r = ESCMax;
    else if(front_r<ESCMin+engine) front_r = engine;
    
    back_r = engine + alti_con - yaw_con + pitch_con - roll_con;
    
    if(back_r>ESCMax) back_r = ESCMax;
    else if(back_r<ESCMin+engine) back_r = engine;
        
    back_l= engine + alti_con + yaw_con + pitch_con + roll_con;
    
    if(back_l>ESCMax) back_l = ESCMax;
    else if(back_l<ESCMin+engine) back_l = engine;
        
    front_l = engine + alti_con - yaw_con - pitch_con + roll_con;
    
    if(front_l>ESCMax) front_l = ESCMax;
    else if(front_l<ESCMin+engine) front_l = engine;
    
    if(engine == OFF) front_r = back_r = front_l = back_l = 0;
    
}