[Sachiel7]

Sorry for the 2 Ls in the table. Let me give you an updated one:
________LEFT CENTER RIGHT
LEFT_____HL____LiL____F
CENTER___LiL____HF___LiR
RIGHT_____F____LiR___HR

Where H = Hard, F = Forward, Li = Light, L = Left, and R = Right

This is a map of the sensor input. For example, when the Left and Center sensors are on, you move Lightly to the left. And, as I said, every bit of movement should have a certain percent of forward motion. So, when it goes lightly to the left, it really is going forward and left a little. The harder the turn, the less forward motion, but it should be there.
If you're still confused, let me know. These were just a few tricks we used last year to speed up our linetracking.