File content as of revision 4:c157810a12c5:

#include "mbed.h"
#include "Serial_HL.h"
#include "Bertl14.h"
#include "BertlObjects.h"

//              main=2^0  LS    ENC 2^2
BusOut boardPow(p30,      P1_6, P1_7);
Timer t1, t2;
AnalogInHL ls1(p18), ls2(p16), ls3(p20), ls4(p19), ls5(p17);

void FollowUntilEnd ();
void TurnUntilLine();
int main(void)
{
    pex.WaitUntilFrontButtonPressed();
    boardPow=3;
    wait_ms(10);
    InitBertl();
    pex.useISR=0;
    leds=9;
    pex.ClearLeds();
    
    while(1)
    {
        if (ls1.Read()>400 ) {
            mL.SetPow(0.0);
            mR.SetPow(0.25);
            
        }
        else{
             if (ls5.Read()>400) {
                 mL.SetPow(0.25);
                 mR.SetPow(0.0);
                 }
                 else{
                    if (ls3.Read()>400  && ls4.Read()>400 && ls2.Read()>400)  {
                    mL.SetPow(0.25);
                    mR.SetPow(0.25);
                    }
                }
            }
      
            return;
         
    //wait_ms(1000);
    //FollowUntilEnd ();
   // wait_ms(1000);
   // TurnUntilLine();
    }
    



}