File content as of revision 9:8682923e9260:

//MIDN 3/C W. O'Brien, D. Thompson-Sevcik, C. Stabler
//Candy scooper program for Project #1, ES200 Fall 2014
//Modifications: 9 OCT- Initial code

#include "mbed.h"
#include "Motor.h"
#include "Servo.h"

Motor kate(p26, p29, p30);
Servo arm(p21);
Servo scoop(p22);
DigitalIn sw1(p16); //up
DigitalIn sw2(p17); //down
DigitalIn sw3(p18); //dump
DigitalIn sw4(p19);
DigitalIn sw5(p20);
BusOut w(p5, p6, p7, p8, p11);  //data bus for LEDs


int main()
{

    
    
    

    float armpos;
    float servopos;
    float mspeed;
    w = 16;
    while(1) {
        
        if( sw4 == 1 && sw5 == 0 && sw1 == 0 && sw2 == 0 ) {//while switch four is on
            mspeed = 0.40;
            kate.speed(mspeed);
            wait(.05);//structure move for .05 seconds
            mspeed = 0.0;
            kate.speed(mspeed);
            wait(.25);//structure stop for .25 seconds
            
            if(w < 1 || w > 16){
                w=16; }
            w = w/2;    //moves LED to the right by changing binary value
        } else if( sw5 == 1 && sw4 == 0 && sw1 == 0 && sw2 == 0) {//while switch five is on
            mspeed = -0.40;
            kate.speed(mspeed);
            wait(.05);//structure moves in reverse for .05 seconds
            mspeed = 0.0;
            kate.speed(mspeed);
            wait(.25);//structure stops moving for .25 seconds
            
            if(w < 1 || w > 16){
                w=1;
                }
            w = w*2;//move LED to the left by changing the binary value
        } else if (sw3 == 1 && sw2 == 0 && sw1 == 0 && sw4 == 0 && sw5 == 0 ) {//while switch three is on
            for (servopos = 0; servopos <= 0.5; servopos += 0.5) {//closes the claw
                scoop = servopos;
                w = 8; // LED three is on
            }
            wait (1);
        } else if(sw1 == 1 && sw2 == 0 && sw5 == 0 && sw4 == 0 ) {//while switch one is on
            armpos += .02;
            arm = armpos;//arm position moves up by .02
            wait(.05);
            w=31;
            wait(.05);//lights flicker between on and off
            w= 0;
        } else if(sw2 == 1 && sw1 == 0 && sw4 == 0 && sw5 == 0) {//while stich two is on
            armpos -= .08;
            arm = armpos;//arm position moves down by .08
            wait(.05);
            w=3;
            wait(.25);//lights flicker between LED 1 and 2 on and LED 3, 4, and 5 on
            w=28;
        } else if (sw4 == 0 && sw1 == 0 && sw2 == 0 && sw3 == 0 && sw5 == 0) {//while all switches off
            mspeed = 0.0;// no movement of the structure
            kate.speed(mspeed);
            arm = armpos;// arm stays in the position
            wait(.1);
            for (servopos = 1.0; servopos >= 0; servopos -=1.0) {
                scoop = servopos;//claw opens up
            }
        }
    }

}//end main