File content as of revision 2:2439f5a4a93d:

/*********************************************************
*RenBuggyLineFollower                                    *
*Author: Dan Argust                                      *
*                                                        *  
*This program demonstates the use of two sensors to      *
*detect and follow a thin black line.                    *
*********************************************************/

#include "mbed.h"

AnalogIn ain0(p15);
AnalogIn ain1(p16);

PwmOut pwm0(p25);
PwmOut pwm1(p10);

float Lmotor;
float Rmotor;
float newLine;
float oldLine;
bool searching;
int counter;

void getMotorSpeeds(float a,float b){
    float inputs[2] = {a,b};
    float max_speed = 1.0;
    Lmotor = 0;
    Rmotor = 0;
    newLine = 0;
    float line_to_speed_factor = max_speed/0.3;
    for(int i = 0;i<2;++i){
        newLine += inputs[i]*(i+1);
    }
    float sum = 0;
    for (int i = 0;i<2;++i){
        sum += inputs[i];
    }
    newLine = newLine / sum;
    if((a<0.2)&&(b<0.2)){
        if(oldLine>1.5)
            newLine = 2;
        else
            newLine = 1;
        searching = true
    }
    if(searching){
        if(abs(a - b)<0.2){
            newLine = oldLine;
        }
        counter++
        if(counter>300){
            newLine = 3 - oldLine;
            counter = 0;
        }
        else{
            searching = false;
        }
    }
    oldLine = newLine;
    Lmotor = newLine*line_to_speed_factor-4;
    Rmotor = 2-(newLine*line_to_speed_factor-4);
    if(Lmotor>max_speed){
        Lmotor = max_speed;
    }
    if(Rmotor>max_speed){
        Rmotor = max_speed;
    }
}

int main()
{
    searching = false
    counter = 0
    while(true){
        getMotorSpeeds(ain0.read(),ain1.read());
        pwm0 = Lmotor;
        pwm1 = Rmotor;
        wait_ms(10);
    }
}