File content as of revision 5:cf58a6bfdd7a:

//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"

Motor kate(p26, p29, p30);
Servo arm(p21);
Servo scoop(p22);
DigitalIn sw1(p16); //up
DigitalIn sw2(p17); //down
DigitalIn sw3(p18); //dump
DigitalIn sw4(p19);
DigitalIn sw5(p20);


int main()
{

    float armpos;
    float servopos;
    float mspeed;

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

}//end main