This program demonstrates line tracking on a white poster board surface with black tape. Please see powerpoint document that explains the VEX line follower algorithm with pictures of the robot sensors and motor configurations. This program will need to be modified if you plan on using it for line tracking on a dark playing field with white tape. The algorithm works but your robot mechanical design also interacts significantly with the operation of this algorithm. You need to tune or calibrate the speed variables for you own robot. Your robot may even need to have significant mechanical modifications in order to line track easily (ie. omni-wheels, ball casters, reduced friction)