File content as of revision 4:ce3d15797939:

#include "mbed.h"
#include "HIDScope.h"
//#include "mbed-dsp.h"
#include "encoder.h"
#include <iostream>

#define MAXENCO 300
#define MINENCO 0

Encoder encoderA(PTD0,PTD2);
PwmOut m1_speedout(PTA5);
DigitalOut m1_dir(PTA4);

void slam();
int y1;
float m1_speed;

void slam()
{
    float enca;
    enca=encoderA.getPosition();
    
    //if (enca <= 0)
    {
        switch(y1)
        {

            case 1:
                m1_dir=1;
                m1_speed=0.33;
                m1_speedout=m1_speed;
                break;
            case 2:
                m1_dir=1;
                m1_speed=0.66;
                m1_speedout=m1_speed;
                break;
            case 3:
                m1_dir=1;
                m1_speed=1.0;
                m1_speedout=m1_speed;
                break;
            default :
                m1_speed=0;
        }
        while (enca < MAXENCO)
        {
            enca=encoderA.getPosition();
            cout << enca << endl;
        }
        m1_speed=0;
        m1_speedout=m1_speed;
        m1_dir=0;
        cout << "blieb!" << endl;
        m1_speed=0.4;
        m1_speedout=m1_speed;
        while(enca > MINENCO)
        {
            enca=encoderA.getPosition();
            cout << enca << endl;
        }
        m1_speed=0;
        m1_speedout=m1_speed;
    }
}

int main()
{
    while(1)
    {
        cin >> y1;
        cout << y1 << endl;
        slam();
    }
}