File content as of revision 0:72366f00d54c:

// Line Trace Test Program
// By JKSOFT

// Line Sensor Port
// Left              Center              Right
// p16       p17       p18       p19       p20
// 0x01      0x02      0x04      0x08      0x10 

// Motor Port
// Left  motor1(M1)  p5,p6  Forward = 0x01  Back = 0x02
// Right motor2(M2)  p7,p8  Forward = 0x01  Back = 0x02

// Servo Port
// p21
// Center    0.5
// Left Max  0.0
// Right Max 1.0

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

#define SENSOR_TH           0x8000
#define SENSOR_NUM          5

#define SERVO_CENTER        0.5

#define LEFT2_SENSOR_ON     0x01
#define LEFT1_SENSOR_ON     0x02
#define CENTER_SENSOR_ON    0x04
#define RIGHT1_SENSOR_ON    0x08
#define RIGHT2_SENSOR_ON    0x10

Servo myservo(p21);

BusOut motor1(p5, p6);
BusOut motor2(p7, p8);

AnalogIn sensor1(p16);
AnalogIn sensor2(p17);
AnalogIn sensor3(p18);
AnalogIn sensor4(p19);
AnalogIn sensor5(p20);


int LineCheck()
{
    int ret = 0;
    int in[SENSOR_NUM] = {  sensor1.read_u16(),
                            sensor2.read_u16(),
                            sensor3.read_u16(),
                            sensor4.read_u16(),
                            sensor5.read_u16()
                         };
                  
    for(int i = 0 ; i < SENSOR_NUM ; i++ )
    {
        if( in[i] > SENSOR_TH )
        {
            ret |= 1 << i;
        }
    }

    return(ret);
}

int main() {

    // Motor Stop
    motor1 = 0;
    motor2 = 0;
    
    //Servo Center
    myservo = SERVO_CENTER;
    
    while(1) {
        int value = LineCheck();
        
        switch(value)
        {
        case LEFT2_SENSOR_ON:   // Left Outside
            myservo = 0.2;
            break;
        case LEFT1_SENSOR_ON:   // Left Inside
            myservo = 0.4;
            break;
        case CENTER_SENSOR_ON:  // Center
            myservo = 0.5;
            break;
        case RIGHT1_SENSOR_ON:  // Right Inside
            myservo = 0.6;
            break;
        case RIGHT2_SENSOR_ON:  // Right Outside
            myservo = 0.8;
            break;
        default:
            myservo = 0.5;
            break;
        }
        
        // Forward
        motor1 = 0x01;
        motor2 = 0x01;
    }
}