/* find the line right under us */
	  /* center is again over the line */
	    if( front == blue
		|| center_left == blue
		|| center_right == blue )
	      {
		printf("found center again\n");
		action = 0;
		move_action( action );
		break;
	      }

	    else if( front_right == blue )
	      set_right_turn();
	    else if( front_left == blue )
	      set_left_turn();
	    
	    /*
	      else if ( back_right == blue )
	      {
	      action = 2;
	      move_action( action );
	      } 
	      else if ( back_left == blue )
	      {
	      action = -2;
	      move_action( action );
	    } 
	    */
	    
	    else {
	      action = 0;
	      move_action( action );
	    }