File content as of revision 0:3009a71333b6:

#include "mbed.h"
#include "PwmOut.h"

unsigned long freqcnt=0;
int floorat = 1;

#define OPENL 0.00375f
#define OPENR 0.1125f

void freq_counter() {
    freqcnt++;
}

void timerfunc() {
    if (freqcnt != 0) {
        if (freqcnt <= 1)
            floorat = 1;
        else if (freqcnt <= 3)
            floorat = 2;
        else if (freqcnt <= 5)
            floorat = 3;
        else if (freqcnt <= 7)
            floorat = 4;
        else if (freqcnt <= 10)
            floorat = 5;
    }    
    freqcnt = 0;   
} 

void 

int main() {
    PwmOut DCenable(p21);
    PwmOut servo1(p22);
    PwmOut servo2(p23);
    InterruptIn floor(p17);
    AnalogIn request(p18);
    servo1.period(0.020f);       //set 20ms period
    servo2.period(0.020f);       //set 20ms period
    DigitalOut motor1(p20);
    DigitalOut motor2(p19);
    AnalogIn floor2(p17);
    
    Timeout check_floor;
    check_floor.attach(&timerfunc,0.01f);
    floor.rise(&freq_counter);
    
    while(1){
        if(request <= 0.66f) { //first floor
            if(floorat > 1) { //if we're above the first floor
                //set DC motor to go down
                motor1 = 1;
                motor2 = 0;
                DCenable = 0.5f;
            }
        } else if (request <= 1.32f) { // second floor
            if (floorat > 2) {
                //set DC motor to go down
                motor1 = 1;
                motor2 = 0;
                DCenable = 0.5f;
            } else if (floorat < 2) {
                //set DC motor to go up
                motor1 = 0;
                motor2 = 1;
                DCenable = 0.5f;
            }
        } else if (request <= 1.98f) { // third floor
            if (floorat > 3) {
                //set DC motor to go down
                motor1 = 1;
                motor2 = 0;
                DCenable = 0.5f;
            } else if (floorat < 3) {
                //set DC motor to go up
                motor1 = 0;
                motor2 = 1;
                DCenable = 0.5f;
            }
        } else if (request <= 2.64f) { // fourth floor
            if (floorat > 4) {
                //set DC motor to go down
                motor1 = 1;
                motor2 = 0;
                DCenable = 0.5f;
            } else if (floorat < 4) {
                //set DC motor to go up
                motor1 = 0;
                motor2 = 1;
                DCenable = 0.5f;
            }
        } else { //fifth floor
            if (floorat < 5) {
                //set DC motor to go up
                motor1 = 0;
                motor2 = 1;
                DCenable = 0.5f;
            }
        }   //end floor checks
        while (floorat == 0) {    //wait endlessly until we're on a floor
        }
        
        
        
    }

    
    return 0;
}