File content as of revision 1:50490d67ac7e:

#include "mbed.h"
#include "Motor.h"
#include "Servo.h"

// I left my code open and unguarded!!
// I'm a tree!

//Digital I/O
Motor m(p26, p29, p30); // pins to use for pwm, fwd, rev
Servo myservo1(p21); //declare servos
Servo myservo2(p22);
DigitalOut led[5] = {p5,p6,p7,p8,p11}; //array for leds
DigitalIn num (p16); // set variable num to read from the board switches
DigitalIn num2 (p17);
DigitalIn num3 (p18);
 
int fl =2;

void flash()
{
    if (led[fl] ==0)
    {
        led[fl] =1;
        wait(0.1);
    }
    else 
    {
        led[fl] = 0;
        wait(0.1);
    }
    if (fl < 4)
    {
        fl++;
    }
    else
    {
        fl=2;
    }
}

void opengate() // function to open the gate
{
    myservo1 = 1;
    wait(0.01);
}
void closegate() //function to close the gate
{
    myservo1 = 0;
    wait(0.01);
}

int main()
{
    float wiggle =0;
    myservo2=wiggle;
    int tofro = 0;
    float i=0.0; //speed var
    while(1)// THE Loop
    {
        flash();
        if(num == 0)
        {
            led[0] = 0;
            closegate();  
        }
        if(num == 1)
        {
            led[0] = 1;
            opengate(); 
        }
        if(num2 == 1)
        {
            led[1] = 1;
            if(i<0.2)
            {
                i=i+0.1;
                m.speed(i);
                wait(0.5);
            }    
        }
        if(num2 == 0)
        {
            led[1] = 0;
            
            if(i>0)
            {
                i=i-0.08;
                m.speed(i);
                wait(0.5);
            }    
        }   
        if (num3 == 1)
        {
            if (tofro==0)
            {
                wiggle = wiggle + 0.01;
                myservo2 = wiggle;
                wait(0.01);
                if(wiggle >= 0.1)
                {
                    tofro=1;
                }                
            }
            if (tofro==1)
            {
                wiggle = wiggle - 0.01;
                myservo2 = wiggle;
                wait(0.01);
                if (wiggle <= 0)
                {
                    tofro =0;
                }
            }
        }
        if(num3==0)
        {
            wiggle =0;
            myservo2 = wiggle;
            wait(0.01);
            tofro=0;
        }    
    }   
}