File content as of revision 0:086810854173:

#include "mbed.h"

PwmOut Right1(p24);
PwmOut Right(p23);
PwmOut Left1(p22);
PwmOut Left(p21);

AnalogIn ainL1(p17) ;  //Left Sencer IN
AnalogIn ainR1(p18) ;  //Right Sencor IN
AnalogIn ain(p16);      //Sensor
Serial pc(USBTX,USBRX) ;

int main(){
wait_ms(2000);
pc.baud ( 115200 ) ;

Right.period(0.020);
Right1.period(0.020);
Left.period(0.020);
Left1.period(0.020);
double p ;
while(1){
double L1 = ainL1.read() ;
double adVL = L1*100 ;  
double R1 = ainR1.read() ;
double adVR = R1*100 ;   
double ai=ain*100;
double t=1.0;
     if(ai>60.0){
     p=0.001;
     double t=0;
   }
   if(ai>58.0 && ai<=60.0){
     p=0.005;
   }
   if(ai>57.0 && ai<=58.0){
     p=0.006;
   }
   if(ai>55.0 && ai<=57.0){
     p=0.007;
   }
   if(ai>=50.0 && ai<=55.0){
     p=0.008;
   }
   if(ai<50.0 && ai<=30.0){
     p=0.010;
   }
   if(ai<30.0){
     p=0.018;
   }                         //Speed
 double p1=0.007;     
//double p=0.007; //speed
//Line Found
double adRR= 1.0  ;
double adLL= 2.1;
       if(t==0){
        Right.pulsewidth(0.004);
        Left.pulsewidth(0.004);
        Right1.pulsewidth(0.004); 
        Left1.pulsewidth(0.004); 
       }

       if(adVR <adRR && adVL> adLL){          //if  Right sensor found Brack Line
        Right.pulsewidth(0); 
        Left1.pulsewidth(0);
        Right1.pulsewidth(p1); //Left Motor on AND Roght Motor off
        Left.pulsewidth(p1);
  
        }
        if(adVL<adLL && adVR>adRR){          //if  Left sensor found Brack Line
        Right1.pulsewidth(0); 
        Left.pulsewidth(0);
        Left1.pulsewidth(p1); //Left Motor off AND Roght Motor on
        Right.pulsewidth(p1);
        }
        if(adVR>adRR && adVL>adLL){ // if Vihicle in White Line
        Right1.pulsewidth(0); 
        Left1.pulsewidth(0);
        Right.pulsewidth(p); 
        Left.pulsewidth(p); //Go Strait
        }
        if(adVR<adRR && adVL<adLL){ // if Vihicle in Black Line
        Right.pulsewidth(0); 
        Left.pulsewidth(0);
        Right1.pulsewidth(p); 
        Left1.pulsewidth(p); //Go Back
        wait_ms(50);
         }

pc.printf( "L-Sensor = %4.2f   R-Sensor = %4.2f \r\n ", adVL, adVR ) ;
  }//while
}//main