void detectLine(int speed, float timeOut){
  int l=0,r=0,m=0,b=0;
  float t;
  readColor();
  readColor();
  t= seconds();
  wheelLeft(speed);
  wheelRight(speed);
  while(seconds()-t < timeOut){
    readColor();
    if(colorBeneath[LIGHT_SENSOR_RIGHT]==myColor){
      printf("LINE FOUND!!!\n");
      ao();
      return;
    }
    sleep(READ_LIGHT_WAIT);
  }
  printf("Detect Line TIMEOUT\n");
  ao();
}