SYMBOL Detectors = B0
SYMBOL RightDetect = BIT0
SYMBOL LeftDetect = BIT1

Line_Follower:
  GOSUB Forwards
  
Check_Line_Follower:  
  GOSUB Line_Finder_Check
  IF Detectors = 0 THEN Check_Line_Follower
  IF Detectors = 1 THEN Line_Right
  IF Detectors = 2 THEN Line_Left

Line_in_Front:
  GOTO End_Line_Follower

Line_Right:
  GOSUB Left
  PAUSE 120
  GOTO Line_Follower

Line_Left:
  GOSUB Right
  PAUSE 120
  GOTO Line_Follower

Line_Finder_Check:
  Detectors = 0
  RightDetect = PIN0
  LeftDetect = PIN1
  RETURN

Right:
  HIGH 2
  LOW 3
  LOW 4
  HIGH 5
  RETURN

Left:
  LOW 2
  HIGH 3
  HIGH 4
  LOW 5
  RETURN

Backwards:
  HIGH 2
  LOW 3
  HIGH 4
  LOW 5
  RETURN
  
Forwards:
  LOW 2
  HIGH 3
  LOW 4
  HIGH 5
  RETURN
  
Freeze:
  LOW 2
  LOW 3
  LOW 4
  LOW 5
  PAUSE 500
  RETURN 
  
End_Line_Follower:
  END