File content as of revision 4:059832a0c7b9:

#include "mbed.h"
#include "time.h"
#include "Motor.h"

AnalogIn ain(p17);
Serial pc(USBTX, USBRX);
Timer t;
Motor m(p25,p27,p28);
float error = Desired_distance - height;
float height;

float Lower_distance = 7; // lower floor in inches.

float Upper_distance = 26; // upper floor in inches

float Desired_distance = Lower_distance;  // start low
int main(void) 
{
    t.reset();  //reset timer to zero
    t.start();  //start timer data timestamp
    m.speed(0.0);
    while(1)
    {
height = 193.125176919012*(pow(ain.read(),3))-353.927724612106*(pow(ain.read(),2))+218.749286479109*(ain.read())-23.2532105680997;
    pc.baud(9600);
    pc.format(7,SerialBase::None,1);
    pc.printf("%f,",height); 
    pc.printf("%f,",ain.read()); //this prints the voltage 
    pc.printf("%f",t.read()); 
    pc.printf("\n");
    if (error > 0)
    {
        m.speed(0.5);
        }
        else(error<0)
        {
            m.speed(-0.5)
            }
    }
    
}