File content as of revision 5:a7c0a09a7c58:

//Project X
// Jordan Kangwijaya, Gabe Collins, Kyle Schaff

#include "mbed.h"
#include "Servo.h"
#include "Motor.h"

BusIn Switch(p16,p17,p18,p19);
BusOut LED(p5,p6,p7,p8,p11);

Motor m(p26,p29,p30);
Servo servo1(p21); //top    .39 to 1.02
Servo servo2(p22); //bottom .38 to .93

float servopos;
float motorspeed=.35;
int counter=0;
int counter1=0;

int main()
{
    while(1) {


        while (Switch==1) {


            for(servopos=.40; servopos<=.60; servopos+=.03) {
                servo1=.7;
                servo2=servopos;
                motorspeed=0;
                m.speed(motorspeed);
                counter=counter+1;
                counter1=counter%20;
                if (counter1==17) {
                    LED=rand()%129;
                }
                wait (.1);
            }
            for(servopos=.60; servopos>=.40; servopos-=.03) {
                servo1=.7;
                servo2=servopos;
                motorspeed=0;
                m.speed(motorspeed);
                counter=counter+1;
                counter1=counter%20;
                if (counter1==17) {
                    LED=rand()%129;
                }
                wait (.1);
            }
        }//Swartzwelder  swartzwe.usna.edu
        while(Switch==2) {


            for(servopos=.40; servopos<=.60; servopos+=.03) {
                servo1=servopos+.2;
                servo2=.5;
                motorspeed=0;
                m.speed(motorspeed);
                counter=counter+1;
                counter1=counter%20;
                if (counter1==17) {
                    LED=rand()%129;
                }
                wait (.03);
            }
            for(servopos=.60; servopos>=.40; servopos-=.03) {
                servo1=servopos+.2;
                servo2=.5;
                motorspeed=0;
                m.speed(motorspeed);
                counter=counter+1;
                counter1=counter%20;
                if (counter1==17) {
                    LED=rand()%129;
                }
                wait (.03);
            }
        }
        while(Switch==4) {

            for(servopos=.40; servopos<=.60; servopos+=.03) {
                servo1=servopos+.2;
                servo2=servopos;
                counter=counter+1;
                counter1=counter%20;
                if (counter1==17) {
                    LED=rand()%129;
                }
                wait (.02);
            }
            for(servopos=.60; servopos>=.40; servopos-=.03) {
                servo1=servopos+.2;
                servo2=servopos;
                counter=counter+1;
                counter1=counter%20;
                if (counter1==17) {
                    LED=rand()%129;
                }
                wait (.02);
            }
        }

        while(Switch==8) {
            motorspeed=.35;
            m.speed(motorspeed);
            for(servopos=.40; servopos<=.60; servopos+=.03) {
                servo1=servopos+.2;
                servo2=servopos;
                m.speed(motorspeed);
                counter=counter+1;
                counter1=counter%20;
                if (counter1==17) {
                    LED=rand()%129;
                }
                wait (.025);
            }
            for(servopos=.60; servopos>=.40; servopos-=.03) {
                servo1=servopos+.2;
                servo2=servopos;
                m.speed(motorspeed);
                counter=counter+1;
                counter1=counter%20;
                if (counter1==17) {
                    LED=rand()%129;
                }
                wait (.025);
            }
        }

        while(Switch==0) {
            servo1=.7;
            servo2=.5;
            motorspeed=0;
            m.speed(motorspeed);
        }
    }
}