File content as of revision 4:48717b42eab2:

#include "mbed.h"

DigitalOut stepX(D2);
DigitalOut dirX(D3);

DigitalOut stepY(D8);
DigitalOut dirY(D9);

DigitalOut stepZ(D11);
DigitalOut dirZ(D12);

AnalogIn joyX(A0);
AnalogIn joyY(A1);

DigitalIn zUp(D6);
DigitalIn zDwn(D7);

float valX;
float valY;
int valZUp;
int valZDwn;

int activeX = 1;
int activeY = 1;
int activeZ = 1;

int contador = 0;

float pps = 800.0;
float periodo = 1.0/pps;
float tempo = periodo/2.0;

int main(){
    printf("Starting...\r\n");
    while(1){        
        valX = joyX;
        valY = joyY;
        
        valZUp = zUp;
        valZDwn = zDwn;
        
        if(valX > 0.7){
            if(dirX){
                dirX = 0;    
            }
            activeX = 1;    
        }
        else if(valX < 0.3){
            if(!dirX){
                dirX = 1;    
            }
            activeX = 1;    
        }
        else{
            activeX = 0;
        }
        
        //----------------------------------------------------------------------
        
        if(valY > 0.7){
            if(!dirY){
                dirY = 1;    
            }
            activeY = 1;    
        }
        else if(valY < 0.3){
            if(dirY){
                dirY = 0;    
            }
            activeY = 1;    
        }
        else{
            activeY = 0;
        }
        
        //----------------------------------------------------------------------   
        
        if(!valZUp && valZDwn){
            if(dirZ){
                dirZ = 0;    
            }
            activeZ = 1;    
        }
        else if(!valZDwn && valZUp){
            if(!dirZ){
                dirZ = 1;    
            }
            activeZ = 1;    
        }
        else {
            activeZ = 0;    
        }
        
        //----------------------------------------------------------------------
        
        stepX = activeX;
        stepY = activeY;
        stepZ = activeZ;
        wait(tempo);
        stepX = 0;
        stepY = 0;
        stepZ = 0;
        wait(tempo);
    }
}