File content as of revision 0:bb0da30d43f4:

#include "mbed.h"
//TIM1_CH1
PwmOut PWM1(PA_8);
//TIM1_CH4
PwmOut PWM2(PA_11);
//TIM16_CH1
PwmOut PWM3(PA_12);
//TIM3_CH1
PwmOut PWM4(PB_0);
//TIM3_CH4
PwmOut PWM5(PB_7);
//TIM17_CH1N
PwmOut PWM6(PB_6);
//TIM3_CH4,
PwmOut PWM7(PB_1);
//TIM3_CH3
PwmOut PWM8(PB_0);

float map (int x, int in_min,int  in_max, float out_min, float out_max)
{
  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}

void Pince_Bas_Gauche(int a)
{
PWM1.period_ms(20); 
PWM1.write(map (a,0,180,0.028f,0.12f));   
}

void Pince_Bas_Droite(int a)
{
PWM2.period_ms(20); 
PWM2.write(map (a,0,180,0.028f,0.12f));   
}

void Pince_Glissement_Gauche(int a)
{
PWM3.period_ms(20); 
PWM3.write(map (a,0,180,0.028f,0.12f));   
}

void Pince_Glissement_Droit(int a)
{
PWM4.period_ms(20); 
PWM4.write(map (a,0,180,0.028f,0.12f));   
}

int main() 
{

    while(1) {

    }
}