File content as of revision 0:89d76ea57469:

#include "mbed.h"

DigitalIn switchin(p19);                                                        //Set pin 19 as input for when switch is towards the arm
DigitalIn switchout(p18);                                                       //Set pin 18 as input for when switch is away from arm
DigitalIn limit(p30);                                                           //Set pin 30 as input for limit switch

DigitalOut armout(p21);                                                         //Set pin 21 as output for when motor is turning CCW towards switch
DigitalOut armin(p22);                                                          //Set pin 22 as output for when motor is turning CW into box

int main()
{
    while(1)                                                                    //Repeat indefinitely
    {
        armin = 0;                                                              //Ensure all motor function is stopped
            
            if ((switchin) && (switchout==0))                                   //If the switch is pushed towards the arm
                                             {
                                               while(switchout)
                                                               {
                                                                armout = 1;     //The MOSFET enabling the motor to turn CCW (towards the switch) is activated
                                                                wait(0.002);    //PWM is used to run motor at a slower speed with full torque so it can still push the switch
                                                                armout = 0;
                                                                wait(0.008);
                                                                }
                                             }
            else if ((switchin==0) && (switchout))                              //If the switch is not pushed towards the arm
                                                    {
                                                     while(limit)               //And the limit switch is not actuated (it is normally closed)
                                                                                //Once the limit switch is actuated the program will end and the motor will stop
                                                                 {
                                                                  armout = 0;   //The MOSFET enabling the motor to turn CCW is deactivated
                                                                  armin = 1;    //The MOSFET enabling the motor to turn CW (back into box) is activated
                                                                  wait(0.002);  //PWM is again used to protect the limit switch
                                                                  armin = 0;
                                                                  wait(0.008);
                                                                  }
                                                    }
    }
}