There are at least five versions of this program! IT IS SERIOUSLY LONG.
The first iteration did not use the number of turns of each wheel to calculate distance travelled. As a result, the robot, while following the line, was not particularly steady. (It kept turning towards the weaker motor)
The current iteration was developed after several attempts at combining the original program (following a line) with a straight line program (correcting the robot's path by the counters). These can still be seen: the turn stacks allow the robot to turn when crossing the line, and the corr stacks keep the counters at the same number.
The program is not as elegant as it could be, since many fixes to problems were added, instead of fully incorporated into the program. The most obvious examples are the thresholds for sensing the line, which have the thresholds awkwardly added on. Additionally, the robot was moving too fast to turn efficiently, so its speed was slowed by decreasing the power. However, this causes the weaker motor to appear significantly weaker.
Predictably, there were many issues with the timing of the turns. As the last section of the video can attest to, the turns are still not perfect. As the robot turns, it is also moving forward. For sharp turns like the last turn, it cannot turn fast enough to get back on the line before it has already passed.
Essentially, this could be fixed by having the robot back every time it turned, to check if it fully crossed the line. However, the robot would look considerably more drunk.
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