File content as of revision 6:98121d2d76a6:

#include "mbed.h"
#include "MODSERIAL.h"
#include "Servo.h"

//DigitalIn Encoder_M1A(D9); 
//DigitalIn Encoder_M1B(D10);
//DigitalIn Encoder_M2A(D11); 
//DigitalIn Encoder_M2B(D12);

DigitalOut Direction_M1(D4);    //To control the rotation direction of the arm
PwmOut Speed_M1(D5);            //To control the rotation speed of the arm
PwmOut Speed_M2(D6);            //To control the translation direction of the arm
DigitalOut Direction_M2(D7);    //To control the translation speed of the arm

Servo gripper_servo(D3);        //To control the gripper (Note: D8=PTC12)

InterruptIn Switch_1(D9);       //To control the rotation to the left
InterruptIn Switch_2(D10);      //To control the rotation to the right
InterruptIn Switch_3(D11);      //To control the translation of the arm
InterruptIn Switch_4(D12);      //To control the gripper

int counter_rotation_left=0;    //To count the number of times the rotation_left switch (switch_1) has been pushed
int counter_rotation_right=0;   //To count the number of times the rotation_right switch (switch_2) has been pushed
int counter_translation=0;      //To count the number of times the translation switch (switch_3) has been pushed
int counter_gripper=0;          //To count the number of times the gripper switch (switch_4) has been pushed

MODSERIAL pc(USBTX, USBRX);     //To make connection with the PC

float speed_translation=0.1; //0.075
float speed_rotation=0.1; //0.075

void rotation_left (){
    switch (counter_rotation_left){
        case 1:                              //For activating the rotation to the left
            Direction_M1 = 1;                //The arm will rotate to the left  
            Speed_M1 = speed_rotation;                    //The motor is turned on
            pc.printf("The arm will now rotate to the left \n");
            wait(0.5f);
            break;
        case 2:                              //For stopping the rotation to the left
            Direction_M1 = 1;                //The arm will rotate to the left  
            Speed_M1 = 0;                    //The motor is turned off
            pc.printf("The arm will now stop rotating to the left \n");
            wait(0.5f);
            break;
    }
}                 

void switch_counter_rotation_left (){   //To count the number of times the rotation_left switch (switch_1) has been pushed
    counter_rotation_left++;
    if (counter_rotation_left > 2){
        counter_rotation_left=1;
    }
    rotation_left();
}

void rotation_right (){
    switch (counter_rotation_right){
        case 1:                              //For activation the rotation to the right
            Direction_M1 = 0;                //The arm will rotate to the right 
            Speed_M1 = speed_rotation;                    //The motor is turned on
            pc.printf("The arm will now rotate to the right \n");
            wait(0.5f);
            break;
        case 2:                              //For stopping the rotation to the right
            Direction_M1 = 0;                //The arm will rotate to the right
            Speed_M1 = 0;                    //The motor is turned off
            pc.printf("The arm will now stop rotating to the right \n");
            wait(0.5f);
            break;
    }
}

void switch_counter_rotation_right (){      //To count the number of times the rotation_right switch (switch_2) has been pushed
    counter_rotation_right++;
    if (counter_rotation_right> 2){
        counter_rotation_right=1;
    }
    rotation_right();
}

void translation (){
    switch (counter_translation){
        case 1:                              //For activating the elongation of the arm
            Direction_M2 = 1;                //The arm will get longer  
            Speed_M2 = speed_translation;                    //The motor is turned on
            pc.printf("The arm will now get longer \n");
            wait(0.5f);
            break;
        case 2:                              //For stopping the elongation of the arm
            Direction_M2 = 1;                //The arm will get longer  
            Speed_M2 = 0;                    //The motor is turned off
            pc.printf("The arm will now stop getting longer \n");
            wait(0.5f);
            break;
        case 3:                              //For activating the shortening of the arm
            Direction_M2 = 0;                //The arm will get shorter  
            Speed_M2 = speed_translation;                    //The motor is turned off
            pc.printf("The arm will now get shorter \n");
            wait(0.5f);
            break;
        case 4:                              //For stopping the shortening of the arm
            Direction_M2 = 0;                //The arm will get shorter 
            Speed_M2 = 0;                    //The motor is turned off
            pc.printf("The arm will now stop getting shorter \n");
            wait(0.5f);
            break;
    }     
}                 

void switch_counter_translation (){     //To count the number of times the translation switch (switch_3) has been pushed
    counter_translation++;
    if (counter_translation > 4){
        counter_translation=1;
    }
    translation();
}

void gripper (){
    switch (counter_gripper){
        case 1:
            gripper_servo = 0;     //The gripper is now closed
            pc.printf("The gripper will now close \n");
            wait(0.5f);
            break;
        case 2:
            gripper_servo = 1;     //The gripper is now open
            pc.printf("The gripper will now open \n");
            wait(0.5f);
            break;
    }     
}

void switch_counter_gripper (){     //To count the number of times the gripper switch (switch_4) has been pushed
    counter_gripper++;
    if (counter_gripper> 2){
        counter_gripper=1;
    }
    gripper();
}

int main(){
    pc.baud(115200);
    pc.printf("RESET \n");
    
    Direction_M1 = 1;               //The arm will initially get longer  
    Speed_M1 = 0;                   //The first motor is initially turned off
    Direction_M2 = 255;             //The arm will initially turn left  
    Speed_M2 = 0;                   //The second motor is initially turned off
    gripper_servo = 1;              //The gripper is initially open
    
    Switch_1.rise(&switch_counter_rotation_left);
    Switch_2.rise(&switch_counter_rotation_right);
    Switch_3.rise(&switch_counter_translation); 
    Switch_4.rise(&switch_counter_gripper);

    while (true);
}