If you're interested, I've attached a simpler line-following program. I tried to add a ton of comments so that modifying it is easier. PM me if you have any questions.
Note that it has nothing to deal with the Y or the diagonal bits. Also, the robot may not be aligned when it stops, so be prepared to deal with that. We have a mecanum base, so if you need some code for that I can send some your way. It's not very clean though
