File content as of revision 0:fb7201282a86:

#include "mbed.h"
#include <Motor.h>

Motor motor0(p5,p6,p7);
Motor motor1(p8,p11,p12);
Motor motor2(p13,p14,p15);  //pull,drive,enable
Motor motor3(p16,p17,p18);
Motor motor4(p21,p22,p23);
Motor motor5(p24,p25,p26);

const int HIGH = 1;
const int LOW  = 0;

//@@@@@@@@@@@@@@@__CONTROL__@@@@@@@@@@@@@@@@@@@
const int PPR = 400;    //Pulses Per Revolution
int ROTATION = 36000;   //3600 full rotation
int RPM = 10;            //Rotations Per Minute
int MOVEMENT = 0;       //Movement Type |0=F ,1=B ,2=R ,3=L|
int NUMSTEPS = 10;       //Number of Steps
//@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@

int pulseLength = 0;

//Converts desired RPM to required Pulse Length (In Microseconds)
void Configure_Pulse(float rpm){
    float holder = 0;           //Create holder variable (MBED is Stupid)

    holder = rpm;               //Set to RPM
    holder = holder/60;         //Brain.exe is no longer responding ;(
    holder = holder*PPR;        //Multiply by PPR
    holder = holder/2;          //Brain.exe is no longer responding ;(
    holder = 1/holder;          //Convert to Seconds
    holder = holder*1000000;    //Convert to Microseconds
    holder = holder/60;         //Dividing by Gear Ratio
    holder = holder/4;          //Math Magic
    
    pulseLength = holder;       
}

//Sets Drive Pins to Movement Configuration
void Configure_Movement(int input){
    switch(input){
        //Move Forward
        case 0: motor0.dir = HIGH;
                motor1.dir = HIGH;
                motor2.dir = HIGH;
                motor3.dir = HIGH;
                motor4.dir = HIGH;
                motor5.dir = HIGH;
            break;
        //Move Backward
        case 1: motor0.dir = LOW;
                motor1.dir = LOW;
                motor2.dir = LOW;
                motor3.dir = LOW;
                motor4.dir = LOW;
                motor5.dir = LOW;
            break;
        //Turn Right
        case 2: motor0.dir = HIGH;
                motor1.dir = HIGH;
                motor2.dir = HIGH;
                motor3.dir = LOW;
                motor4.dir = LOW;
                motor5.dir = LOW;
            break;
        //Turn Left
        case 3: motor0.dir = LOW;
                motor1.dir = LOW;
                motor2.dir = LOW;
                motor3.dir = HIGH;
                motor4.dir = HIGH;
                motor5.dir = HIGH;
            break;
    }
}

int main() {
    Configure_Movement(MOVEMENT);
    Configure_Pulse(RPM);
    
    bool altSet = false;    //
    int inv0 = 0, inv1 = 0; //Creates inverter variables for pulse controll
    
    //Loop for Number of Steps Made
    for(int i=0; i<NUMSTEPS; i++){
        if(altSet == false){
            //Pulses for total desired Rotation for set0
            for(int j=0; j<ROTATION; j++){
                inv0 =~ inv0;   //Inverts Value
                motor0.pul = inv0;
                motor2.pul = inv0;
                motor4.pul = inv0;
                
                //Pulses set1 every 3 pulses of set0
                if(j%3 == 0){
                    inv1 =~ inv1;   //Inverts Value
                    motor1.pul = inv1;
                    motor3.pul = inv1;
                    motor5.pul = inv1;
                }
                wait_us(pulseLength);
             }
             altSet = true;
        }else if(altSet == true){
             //Pulses for total desired Rotation for set1
             for(int j=0; j<ROTATION; j++){
                inv1 =~ inv1;   //Inverts Value
                motor1.pul = inv1;
                motor3.pul = inv1;
                motor5.pul = inv1;
                
                //Pulses set0 every 3 pulses of set1
                if(j%3 == 0){
                    inv0 =~ inv0;   //Inverts Value
                    motor0.pul = inv0;
                    motor2.pul = inv0;
                    motor4.pul = inv0;
                }
                wait_us(pulseLength);
            }
             altSet = false;
        }
    }
}