[CodeMonkeyMatt]

I haven't looked into the line trackers, so I can't help you there, but I can help on the printf statement. It prints not to the driverstation, but to the target console. Normally, you won't see this. To pull it up, go into windriver while connected to the robot, right click the VxWorks connection in the bottom left, and go to "Target Tools" -> "Target Console"*.

*May not be perfect. I don't have windriver on this computer.