void line_follow() {
  int our_alignment;
  int blah;

  if (OUR_COLOR * analog(LINE_SENSOR_LEFT) < OUR_COLOR * (highval[LINE_SENSOR_LEFT] + lowval[LINE_SENSOR_LEFT]) / 2) {
    printf("\error! not on line!");
    /* return; */
  }

  while (1) { /* time restraint/check for wall */
    /*our_alignment = standardize_sensor(LINE_SENSOR_LEFT) - standardize_sensor(LINE_SENSOR_RIGHT);*/
    our_alignment = standardize_sensor(LINE_SENSOR_LEFT) - standardize_sensor(LINE_SENSOR_RIGHT);
    if (abs(our_alignment) > 30) {
      sleep(.01);
      blah = (standardize_sensor(LINE_SENSOR_LEFT) - standardize_sensor(LINE_SENSOR_RIGHT));
      sleep(.01);
      blah = (blah + (standardize_sensor(LINE_SENSOR_LEFT) - standardize_sensor(LINE_SENSOR_RIGHT))) / 2;
      if (abs(blah) < 30) { /* avoid negative sleep vals */
	blah = 30;
      }
      printf("\nA:%d B:%d I:%d",blah,(standardize_sensor(LINE_SENSOR_LEFT) - standardize_sensor(LINE_SENSOR_RIGHT)),our_alignment);
      go_direction(our_alignment/abs(our_alignment) * 40,1);
      sleep(.015 * ((float) (abs(blah) - 30)));
      go_direction(0,1);
      sleep(.03 * ((float) (abs(blah) - 30)));
      go_direction(-1 * our_alignment/abs(our_alignment) * 40,1);
      sleep(.01 * ((float) (abs(blah) - 30)));
    }
    go_direction(0,1);
    /*go_direction(current_dir - our_alignment,1);
    printf("\n%d",current_dir - our_alignment);*/
    sleep(.01);
  }
}

void line_follow_2() {
  int our_alignment;
  int done = 0;
  while (1) {
    our_alignment = standardize_sensor(LINE_SENSOR_LEFT) - standardize_sensor(LINE_SENSOR_RIGHT);
    if (!on_line() && (abs(our_alignment) < 10)) {
      while(!near_line()) {
	go_direction(0,1);
	sleep(0.01);
      }
      if (our_alignment > 0) {
	while(!right_of_line()) {
	  go_direction(0,1);
	  sleep(0.01);
	}
      } else {
	while(!left_of_line()) {
	  go_direction(0,1);
	  sleep(0.01);
	}
      }
    }
    if (on_line()) {
      go_direction(0,1);
      sleep(.01);
    } else {
      done = 1;
      /* to the left of the line */
      if (our_alignment > 0) {
	/*
	while(near_line()) {
	  go_direction(100,1);
	  sleep(0.01);
	}
	*/
	go_direction(100,1);
	sleep(0.8);
	while(!near_line()) {
	  go_direction(-20,1);
	  sleep(0.01);
	}
	while(!on_line()) {
	  go_direction(-40,1);
	  sleep(0.01);
	}
	/* to the right of the line */
      } else {
	/*
	while(near_line()) {
	  go_direction(-100,1);
	  sleep(0.01);
	}
	*/
	go_direction(-100,1);
	sleep(0.75);
	while(!near_line()) {
	  go_direction(20,1);
	  sleep(0.01);
	}
	while(!on_line()) {
	  go_direction(40,1);
	  sleep(0.01);
	}
      }
    }
  }
}

void line_follow_3() {
  int our_alignment;
  while (1) {
    our_alignment = standardize_sensor(LINE_SENSOR_LEFT) - standardize_sensor(LINE_SENSOR_RIGHT);
    if (on_line() || (abs(our_alignment) < 10)) {
      go_direction(0,1);
      sleep(0.01);
    } else {
      if (our_alignment > 0) {
	while(!on_line()) {
	  go_direction(30,1);
	  sleep(0.01);
	}
	while(!on_line()) {
	  go_direction(-10,1);
	  sleep(0.01);
	}
      } else {
	while(!on_line()) {
	  go_direction(-30,1);
	  sleep(0.01);
	}
	while(!on_line()) {
	  go_direction(10,1);
	  sleep(0.01);
	}
      }
    }
  }
}

int on_line() {
  return (OUR_COLOR * analog(LINE_SENSOR_CENTER) < OUR_COLOR * (highval[LINE_SENSOR_CENTER] + lowval[LINE_SENSOR_CENTER]) / 2);
}

int left_of_line() {
  return ((OUR_COLOR * analog(LINE_SENSOR_RIGHT) < OUR_COLOR * (highval[LINE_SENSOR_RIGHT] + lowval[LINE_SENSOR_RIGHT]) / 2));
}

int right_of_line() {
  return ((OUR_COLOR * analog(LINE_SENSOR_LEFT) < OUR_COLOR * (highval[LINE_SENSOR_LEFT] + lowval[LINE_SENSOR_LEFT]) / 2));
}

int near_line() {
  return ((OUR_COLOR * analog(LINE_SENSOR_RIGHT) < OUR_COLOR * (highval[LINE_SENSOR_RIGHT] + lowval[LINE_SENSOR_RIGHT]) / 2) || (OUR_COLOR * analog(LINE_SENSOR_LEFT) < OUR_COLOR * (highval[LINE_SENSOR_LEFT] + lowval[LINE_SENSOR_LEFT]) / 2));
}