File content as of revision 0:eff94d72c9f4:

 #include "mbed.h"
 #include "Servo.h"
 #include "MMA8452.h"
 #include "PinDetect.h"
 
Serial pc(USBTX,USBRX);
DigitalOut myLed(LED1);
PinDetect pb1(p20);

        Servo _base(p21);
        Servo _shoulder(p22);
        Servo _elbow(p23);
        Servo _gripper(p24);

void swing(){
    _gripper.write(1.0);
    wait(.1);
    _gripper.write(0.0);
  }

int main() {

   pb1.mode(PullUp);
   
   double x = 0, y = 0, z = 0;
   MMA8452 acc(p28, p27, 40000);  //instantiate an acc object 
   
   //set parameters -- use these and don't change
   acc.setBitDepth(MMA8452::BIT_DEPTH_12);
   acc.setDynamicRange(MMA8452::DYNAMIC_RANGE_4G);
   acc.setDataRate(MMA8452::RATE_100);
   
   
   while(1) {

//      if(!acc.isXYZReady()) 
//      {
//         wait(0.01);
//      }
//      else
//      { 
      acc.readXYZGravity(&x,&y,&z); //notice this is passed by reference use pointers
      
      if(y < 0)
      _base.write(90+(y*-.90));
      else
      _base.write(90-(y*-.90));
      
      if(x < 0)
      _shoulder.write(90+(x*-.90));
      else
      _shoulder.write(90-(x*-.90));
      
      if(!pb1){
        myLed=1;
        swing();
        myLed=0;
    }
                 
                 
      // You can uncomment this line to see the values coming off the MMA8452           
      printf("\n(%.2f,%.2f,%.2f)  \n", x,y,z);
      
      } //end else
      
   } //end infinite while loop
//} // end main