[davidthefat]

I assume it returns a boolean. I have not looked at the libraries yet, I am currently teaching the other programmers the last year's library. (Its the same as this year technically) How many do they give you? Make it so that 3 of them point in different spots in front of the robot. So the outer 2 sensors would form an angle big enough (it would depend on where you place the sensors) and the middle one would be placed at the angle bisector. So It checks if the middle triggers true, it it does, its on track. If the left is triggered, you are too far right, turn left a little and same with the right side. That should be the basic loop. If they are all triggered, you are at a cross point or a stop point.