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You can use remote procedure commands (RPC) on mbed over HTTP. These can read and write to DigitalI/O, PWM and Analogue I/O. You just need to put the webserver on mbed. Theres also then a Java or JavaScript library to speed up writing a web page to interact with the I/O or you can just use HTTP requests to send the commands. You can also use RPC with other clases and the commands can also be used over serial.
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Does anyone know of a program I can download to my mBed that will serve a rudimentary webpage to my desktop that I can use to read and write digital I/O to my mBed?