File content as of revision 0:8cc71e8eb869:

// Servo control class, based on a PwmOut
 
 
  // Continuously sweep the servo through it's full range
  #include "mbed.h"
  #include "Servo.h"
  #include "HCSR04.h"

 Serial pc(USBTX,USBRX);     // Create a serial connection to pc through the mbed USB cable

 
HCSR04 sensor(D8,D9);        //hcsr04 pin numbers
Servo LRmyservo(PTC5);       //servo pwm pin
InterruptIn motion(D2);      //pir motion sensor interrupt pin

//Input at switch SW2 and output at led2
DigitalIn sw2(SW2);
DigitalOut Green(LED2);
 

int motion_detected = 0;


//interrupt and other functions
 void irq_handler(void)
 {
     motion_detected = 1;
 }
 
 void rotateServo(bool rotate)
 {
    int i = 0;
    if (rotate == true){ //rotate right
        for(i=10; i<111; i++){
            LRmyservo = i/100.00;
            //pc.printf("read = %f\r\n", LRmyservo);
            wait_ms(4);
            if(motion_detected){
                break;
            }
        }
    } else{ 
        for(i=110; i>=10; i--){ //rotate left
            LRmyservo = i/100.00;
            //pc.printf("read = %d, signal = %d\r\n", LRmyservo.read(),something);
            wait_ms(4);
            if(motion_detected){
                break;
            }
        }
    }
 }
 
 void dist(int distance)
{
    //put code here to execute when the distance has changed
    printf("Distance %d mm\r\n", distance);
}



//main program, runs one peripheral at a time, unable to interface simutanously
    int main() 
    {
        
        //Initialize variables
        bool flag = false;
        bool rotate = true;
        
        //Initilize motor positions

        while(flag == false)
        {
            //check to make sure the motion sensor was not triggered
            if (sw2 == 0)
            {
                rotateServo(rotate);
                if (rotate == true)
                { //adjust rotation direction for next iteration
                    rotate = false;
                } else{
                        rotate = true;
                        }
            }
        }
        pc.printf("I am finished with the program");
        //wait_ms(5);
        
///////for ditecting motion at the dispenser tray using hcsr04
    /*
        wait_ms(4000);
        int echoVal = sensor.echo_duration();
        Green = 1;
   
        while(1){
             int a = sensor.echo_duration();
             if (a - echoVal > 75 || echoVal - a > 75){
                   Green=0;
                   wait(.2);
                   Green=1;
                   wait(.2);
             }
             pc.printf("%d \n\r",a);
             wait_ms(50);
        }
    */
    
///////for ditecting motion motion of the pill passing through the channel using PIR motion sensor
    /*
        int cnt = 0;
        motion.fall(&irq_handler);
        Green=1;
    
        while(1) 
        {
            if(motion_detected) 
            {
                cnt++;
                motion_detected = 0;
                pc.printf("Hello! I've detected %d times since reset\r\n", cnt);
                Green=0;
                wait(.2);
                Green=1;
                wait(1);
            } else{
                pc.printf("did not detect\r\n");
                }
        }
    */
    }