File content as of revision 0:b26782ea38a7:

#include "mbed.h"
#include "esc.h"

DigitalOut  my_led(LED1);
InterruptIn my_button(USER_BUTTON);
PwmOut      m1(D3);
PwmOut      m2(D4);
PwmOut      m3(D5);
PwmOut      m4(D6);


PwmOut      m5(D7);
PwmOut      m6(D8);
PwmOut      m7(D9);

//pwm values outputted to individual motors
int pwm = 0;

//For serial display on pc
Serial pc(USBTX, USBRX);

// Serial communication between Arduino NANO
RawSerial device(PA_11, PA_12);  //TX RX

int depth = 1;

//maps value from incoming analog signal to correct range
//to be sent out to as pwm signal to motors
float map(float x, float in_min, float in_max, float out_min, float out_max)
{
  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}

//declare analog input pin 
AnalogIn    joystickUD(A0);

enum testStates {init, readInput, freeze, holdFreeze, holdUnfreeze} testState;

void testTask(){
    //Actions
    switch(testState)
    {
        case init:
        break; 
        
        case readInput:
            //map raw joystick value
            pwm = map(joystickUD.read(), 0.003, 0.996, 1200, 1800);
            
           
       
            //print mapped joystick values
           // pc.printf("Pulse frequency: %d \n", pwm);  
       
            //send pulse in microseconds to motors
            m1.pulsewidth_us(pwm);
            m2.pulsewidth_us(pwm);
            m3.pulsewidth_us(pwm);
            m4.pulsewidth_us(pwm);
            
            m5.pulsewidth_us(pwm);
            m6.pulsewidth_us(pwm);
            m7.pulsewidth_us(pwm);
        break;
        
        case freeze:
            //send pulse in microseconds to motors
            m1.pulsewidth_us(pwm);
            m2.pulsewidth_us(pwm);
            m3.pulsewidth_us(pwm);
            m4.pulsewidth_us(pwm);
            
            m5.pulsewidth_us(pwm);
            m6.pulsewidth_us(pwm);
            m7.pulsewidth_us(pwm);
        break;
        
        case holdUnfreeze:
        break;
        
        case holdFreeze:
        break;
        
        default:
        break;   
    }    
    
    //Transitions
    switch(testState)
    {
        case init:
            testState = readInput;
        break;
        
        case readInput:
            if (!my_button)//Button Pressed
            {
                testState = holdFreeze;
            }
            else
            {
                testState = readInput;
            }
        break;
        
        case freeze:
            if (!my_button)//Button Pressed
            {
                testState = holdUnfreeze;
            }
            else //ButtonReleased
            {
                testState = freeze;
            }
        break;
        
        case holdFreeze:
        if (my_button)//Button Released
            {
                testState = freeze;
            }
        else     //Button StillPressed
            {
                testState = holdFreeze;    
            }
        break;
        
        case holdUnfreeze:
        if (my_button)//Button Released
            {
                testState = readInput;
            }
        else //Button StillPressed
            {
                testState = holdUnfreeze;    
            }
        break;
        
        default:
        break;
    }
}



int main()
{
    testState = init;
    my_led = 0;
    
    while (1) {
       
       testTask();
         // Read pressure sensor data if available
            if (device.readable())
            {
                // Receive depth in inches as an integer
                depth = device.getc();
            
                // Convert to feet
            
                // Display received data
                 pc.printf("Depth: %d \n", depth);
            }
       wait(0.01); // 10 ms    
       my_led =!my_led;
    }
}