void followLine(int distSensorID, int wallBump, int turnAwayRotation, int wallDistance, int walkDistance, int speed, float timeOut){

  int turnInRotation = - turnAwayRotation;
  int walld,lastWalld;
  int position;
  float time;

  printf("Following line.\n");
  reset_encoder(SHAFT_LEFT);
  reset_encoder(SHAFT_RIGHT);

  wheelLeft(speed);
  wheelRight(speed);
  lastWalld=walld=analog(distSensorID);

  time=seconds();
  while((read_encoder(SHAFT_LEFT)+read_encoder(SHAFT_RIGHT) < walkDistance) 
	&& (seconds()-time < timeOut)){
    
    walld=analog(distSensorID);
    readColor();
    position = (colorBeneath[LIGHT_SENSOR_LEFT]==myColor)*4
      + (colorBeneath[LIGHT_SENSOR_MID]==myColor)*2
      + (colorBeneath[LIGHT_SENSOR_RIGHT]==myColor);
    /*printf("pos=%d ",position); */
   
    /* Cases go here */
    if(digital(wallBump)){
      printf("banged to the wall!\n");
      veer(-turnAwayRotation*WHEEL_VEER*3);
    }else if(position==6){
      printf("veer left\n");
      veer(-WHEEL_VEER);
    }else if(position==4){
      printf("veer very left\n");
      veer(-2*WHEEL_VEER);
    }else if(position==3){
      printf("veer right\n");
      veer(WHEEL_VEER);
    }else if(position==1){
      printf("veer very right\n");
      veer(2*WHEEL_VEER);
    }else if(position==5){
      /* Something is going wrong */
      printf("Something is wrong here!!!\n");
      sleep(CHECK_LINE_LOOP_WAIT);
    }else if(position==0){
      /* Very far off the line, check distance */
      if(walld < wallDistance){
	/* Distance is too far */
	if(walld <= lastWalld){
	  /* is going out  ->  turn to the wall*/
	  printf("veer to wall\n");
	  veer(turnAwayRotation*WHEEL_VEER*2);	  
	}else{
	  printf("going straight to LINE\n");
	  sleep(CHECK_LINE_LOOP_WAIT);
	}
      }else{
	/* Distance is too short */
	if(walld >= lastWalld){
	  /* is going in */
	  printf("veer out from wall\n");
	  veer(-turnAwayRotation*WHEEL_VEER*2);
	}else{
	  printf("going straight out from wall to LINE\n");
	  sleep(CHECK_LINE_LOOP_WAIT);
	}
      }
    }else{
      /* Otherwise, keep going straight */
      printf("going straight\n");
      sleep(CHECK_LINE_LOOP_WAIT);
    }
    lastWalld=walld;
  } /* while */
  ao();
}

void veer(int angle){
  servo(SERVO_WHEEL,FRONT_WHEEL_STRAIGHT + angle);
  sleep(VEER_WAIT);
  servo(SERVO_WHEEL,FRONT_WHEEL_STRAIGHT);
  sleep(FRONT_WHEEL_WAIT);
}