File content as of revision 4:0ed46a6cdf66:

//MIDN 3/C W. O'Brien, D. Thompson-Sevcik, C. Stabler
//Candy scooper program for Project #1, ES200 Fall 2014
//Modifications: 9 OCT- Initial code

#include "mbed.h"
#include "Motor.h"
#include "Servo.h"
 
Servo arm(p21);
DigitalIn sw1(p16); //up
DigitalIn sw2(p17); //down
Servo scoop(p22);
DigitalIn sw3(p18); //dump
Motor kate(p26, p29, p30);//movement of structure
DigitalIn sw4(p19);
DigitalIn sw5(p20);


int main(){

    float armpos;
    float servopos;
    float mspeed;
    
    while(1){
       
       if((sw1 == 1) && (sw2 == 0)){
           armpos += .05;
           arm = armpos;
           wait(.1);
        }
        else if((sw1 == 0) && (sw2 == 0)){
            arm = armpos;
            wait(.1);
        }
        if((sw2 == 1) && (sw1 == 0)){
            armpos -= .01;
            arm = armpos;
            wait(.05);
        }
        else if((sw2 == 0) && (sw1 == 0)){
            arm = armpos;
            wait(.1);
        }
         if (sw3 == 1) {//dump command
            for (servopos = 0; servopos <= 1.0; servopos += 1.0) {
                scoop = servopos;
            }
            wait (1);
        } else if (sw3 == 0) {
            for (servopos = 1.0; servopos >= 0; servopos -=1.0) {
                scoop = servopos;
            }
            wait (1);
        }
        if( sw4 == 1 ) {
            mspeed = 0.35;
            kate.speed(mspeed);
            wait(.03);
            mspeed = 0.0;
            kate.speed(mspeed);
            wait(.05);
        } 
        else if (sw4 == 0) {
            mspeed = 0.0;
            kate.speed(mspeed);
        }
        else if(( sw4 == 1 && sw5 == 1)){ 
            mspeed = 0.0;
            kate.speed(mspeed);
        }
        if( sw5 == 1 ) {
            mspeed = -0.35;
            kate.speed(mspeed);
            wait(.03);
            mspeed = 0.0;
            kate.speed(mspeed);
            wait(.05);
            
        } else if (sw5 == 0) {
            mspeed = 0.0;
            kate.speed(mspeed);
        }
        else if(( sw4 == 1 && sw5 == 1)){ 
            mspeed = 0.0;
            kate.speed(mspeed);
        }
    }//end while
}//end main