File content as of revision 0:59d25bb7f825:

#include "mbed.h"

//motor select pins
DigitalOut motor_lf(PTE2);
DigitalOut motor_lb(PTE3);
DigitalOut motor_rf(PTE4);
DigitalOut motor_rb(PTE5);

//Frequency of Pulse Width Modulated signal in Hz
#define PWM_FREQ          1000

//PWM pin (Enable 1 and 2)
PwmOut motor_l (PTC2);
PwmOut motor_r (PTE29);

//LED to test
DigitalOut myled(LED_RED);
/*
Pivot Right: //Change duties for speed
motor_rf=0;
motor_rb=0;
motor_lf=1;
motor_lb=0;
Pivot Left: //Change duties for speed
motor_rf=1;
motor_rb=0;
motor_lf=0;
motor_lb=0;
Forwards: //Change duties for speed & direction
motor_rf=1;
motor_rb=0;
motor_lf=1;
motor_lb=0;
Backwards: //Change duties for speed & direction
motor_rf=0;
motor_rb=1;
motor_lf=0;
motor_lb=1;
*/
void set_direction( int nature_of_direction, float speed)
{
    switch(nature_of_direction) {
        case "forward": {
            motor_r.write(speed + angle); //where angle can be postive and negative and will TURN the robot
            motor_l.write(speed - angle);
            //if turning left, you'd make the angle postive (right motor goes faster left motor goes slwoer)
            motor_rf=1;
            motor_rb=0;
            motor_lf=1;
            motor_lb=0;
        }
        case "backwards": {
            motor_r.write(speed + angle); //where angle can be postive and negative and will TURN the robot
            motor_l.write(speed - angle);
            //if turning left, you'd make the angle postive (right motor goes faster left motor goes slwoer)
            motor_rf=0;
            motor_rb=1;
            motor_lf=0;
            motor_lb=1;
        }
        case "pivot right": {
            motor_r.write(0); //motor doesn't need to be enabled
            motor_l.write(speed);

            motor_rf=0;
            motor_rb=0;
            motor_lf=1;
            motor_lb=0;
        }
        case "pivot left": {
            motor_r.write(speed);
            motor_l.write(0); //motor doesn't need to be enabled

            motor_rf=1;
            motor_rb=0;
            motor_lf=0;
            motor_lb=0;
        }
    }
}

int main()
{

    //Set PWM frequency to 1000Hz
    motor_l.period( 1.0f / (float) PWM_FREQ);
    motor_r.period( 1.0f / (float) PWM_FREQ);
//Initialise direction to nothing.
    motor_rf=0;
    motor_rb=0;
    motor_lf=0;
    motor_lb=0;


    while(1) { //infinite loop
        //***********************************************
        myled = !myled;

        //Set duty cycle at 100% AKA Full Speed
        motor_r.write(1.0);
        motor_l.write(1.0);

        motor_rf=1;
        motor_rb=0;
        motor_lf=1;
        motor_lb=0; //go forwards
        wait(2);
        //**************************************
        myled = !myled;

        motor_r.write(0.75);
        motor_l.write(0.75);

        motor_rf=1;
        motor_rb=0;
        motor_lf=1;
        motor_lb=0; //go forwards
        //
        wait(2);

        myled = !myled;

        motor_r.write(0.5);
        motor_l.write(0.5);

        motor_rf=1;
        motor_rb=0;
        motor_lf=1;
        motor_lb=0;


        wait(2);
        myled = !myled;

        motor_r.write(0.30);
        motor_l.write(0.30);

        motor_rf=1;
        motor_rb=0;
        motor_lf=1;
        motor_lb=0;

        wait(2);

        myled = !myled;
        motor_r.write(1.0);
        motor_l.write(1.0);

        motor_rf=0;
        motor_rb=1;
        motor_lf=0;
        motor_lb=1; //go forwards
        //
        wait(2);



        myled = !myled;
        motor_r.write(0.5);
        motor_l.write(0.5);

        motor_rf=0;
        motor_rb=0;
        motor_lf=0;
        motor_lb=1; //

        wait(2);
        myled = !myled;

        motor_rf=0;
        motor_rb=1;
        motor_lf=0;
        motor_lb=0; //reverse turn

        wait(2);

        myled = !myled;
        motor_r.write(0.5);
        motor_l.write(1.0);

        motor_rf=1;
        motor_rb=0;
        motor_lf=1;
        motor_lb=0; //go forwards
        //
        wait(4);

    }

}