File content as of revision 32:2006977785f5:

#include "buttons.h"
#include "mbed.h"
#include "config.h"
#include "actuators.h"
// functions for reading all the buttons and switches 

AnalogIn pot2(pot2Pin);
AnalogIn pot1(pot1Pin);

// Led states: 	
// 	0 leds: motors disabled
//	led1: 	control X speed
//	led2:	control Y speed
//	led1&led2: control Servo pos
AnalogOut led1(led1Pin);
AnalogOut led2(led2Pin);

AnalogIn button1(button1Pin);
AnalogIn button2(button2Pin);
int prevState1 = 0;
int prevState2 = 0;
int actuatorState = 0;


void checkSwitches(){

	// 3 states: X control, Y control en Servo control
	//	 button 1 to enable/disable actuators
	// 	 button 2 to switch between states

	if(button1 !=0 && prevState1 == 0){
		button1Pressed();
	}
	if(button2 !=0 && prevState2 ==0){
		button2Pressed();
	}
	prevState1 = button1;
	prevState2 = button2;

    pot1Val = pot1.read();
    pot2Val = pot2.read();

    if(motorsEnable){
    	switch (actuatorState){
        	case 0: 				// potmeters control X speed
        		led1 = 1; led2=0;
        		motorSetSPeed1 = 300*(pot2.read()-pot1.read());
        		break;
        	case 1:         		// potmeters control Y speed
        		led1=0; led2=1;
        		motorSetSpeed2 = 300*(pot2.read()-pot1.read());
        		break;
        	case 2:         		// potmeters control Servo pos
        		led1=1; led2=1;
        		servoPos = pot2.read();
        		break;
        }
    }else{
    	led1=0; led2=0;
    }
    motorSetSpeed2 = motorSetSpeed2 - 300*pot1.read();
   }


void button1Pressed(){
	motorEnable = !motorEnable;
}

void button2Pressed(){
	actuatorState++;
	if(actuatorState=3){
		actuatorState = 0;
	}

}