This is the code we used in our final implementation of our spherical robot.

Revision:
0:63c4c959e87f
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sun May 06 05:41:04 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/737756e0b479