[Greg McKaskle]

If I understand what your idea, you want to move the arm independently and begin the loop that follows the line.

My suggestion would be to use timers, relays, and a sequence structure to do the arm in parallel with the line follower code. Put code after the line follower loop that will reverse the relay for some time, release the tube, and drive away.

I know that isn't a ton of detail, but start with the initial stuff and once it works, add the next element in. Once you get started, I think the sequencing will become more obvious.

Greg McKaskle