[umangv620]

I believe the caution tape is segmented to avoid overlap over the autonomous line tracking tape.

Also, the FRC cRIO project comes with a sample Line-tracking code in Autonomous Independent which not only follows the line, but can also sense when you arrive at the T or Y, and does appropriate actions. I still need to study this sample code to fully understand it myself (the part outside the while loop), but the part inside the while loop is pretty easy to follow.