linefollowuntil(FRONTINTERSECTION, 1, 50);to drive at half power until the front sensors registered an intersection.
make_starting_turn(); //a fake procedure, we had a similar one driveuntil(INTERSECTION, 0, 80); //drive forward until off the intersection (jail) linefollowuntil(INTERSECTION, 1, 80); //follow line until an intersection driveuntil(CLICKS, 3, 50); //go a bit farther (3 shaft encoder clicks) whapliftdown(); //we're going to drag a known hacker back to jail WIN(); //engage neural net etc, etc, etc....