function FollowLine(a,b,c)
  FollowLineHiTech(a,b,100,500,c)
end
function FollowLineHiTech(a,b,c,d,e)
  local x = {}
  local dmax,dmin
  local LP,GL,xLP
  local dcount = 0
  local ret = 0
  local glret = 0
  local GL = 0
  local i = 1
  local wcount = 0
  local YStat = 0
  local sharp = {}
  local SharpCount = 0
  local DriveBy = 0
  repeat
    x[1],x[2],x[3],x[4],x[5] = snabel()
    x[1] = ((x[1] - cs1) * 1000) / (ch1-cs1)
    x[2] = ((x[2] - cs2) * 1000) / (ch2-cs2)
    x[3] = ((x[3] - cs3) * 1000) / (ch3-cs3)
    x[4] = ((x[4] - cs4) * 1000) / (ch4-cs4)
    x[5] = ((x[5] - cs5) * 1000) / (ch5-cs5)
    wcount = 0
    i = 1
    repeat
      if x[i] < 600 then
        wcount = wcount + 1
      end
      i = i + 1
    until i == 6
    if wcount > 4 then
      if b == 1 then -- ohh Shit
        print("Ohh Shit ! ("..GL..")")
        if GL < 0 then
          motor(1,6,1,2)
          repeat
            x[1],x[2],x[3],x[4],x[5] = snabel()
            x[1] = ((x[1] - cs1) * 1000) / (ch1-cs1)
            x[2] = ((x[2] - cs2) * 1000) / (ch2-cs2)
            x[3] = ((x[3] - cs3) * 1000) / (ch3-cs3)
            x[4] = ((x[4] - cs4) * 1000) / (ch4-cs4)
            x[5] = ((x[5] - cs5) * 1000) / (ch5-cs5)
          until x[3] > 70 or ccheck()
        else
          motor(1,2,1,6)
          repeat
            x[1],x[2],x[3],x[4],x[5] = snabel()
            x[1] = ((x[1] - cs1) * 1000) / (ch1-cs1)
            x[2] = ((x[2] - cs2) * 1000) / (ch2-cs2)
            x[3] = ((x[3] - cs3) * 1000) / (ch3-cs3)
            x[4] = ((x[4] - cs4) * 1000) / (ch4-cs4)
            x[5] = ((x[5] - cs5) * 1000) / (ch5-cs5)
          until x[3] > 70 or ccheck()
        end
      end
      if b == 2 then -- Ingen Streg
        DriveBy = DriveBy + 1
        if DriveBy > 5 then
          motor(0,0,0,0)
          return
        end
      end
    else
      if DriveBy > 0 then
        DriveBy = DriveBy - 1
      end
    end
    dmax = max(x[1],x[2],x[3],x[4],x[5])
    dmin = min(x[1],x[2],x[3],x[4],x[5])
    x[1] = ((x[1] - dmin) * 1000) / (dmax-dmin)
    x[2] = ((x[2] - dmin) * 1000) / (dmax-dmin)
    x[3] = ((x[3] - dmin) * 1000) / (dmax-dmin)
    x[4] = ((x[4] - dmin) * 1000) / (dmax-dmin)
    x[5] = ((x[5] - dmin) * 1000) / (dmax-dmin)
    if b == 1 then -- Ykryds
      i = 1
      wcount=0
      repeat
        if x[i] > 700 then
          wcount=wcount+1
        end
        i = i + 1
      until i == 6
      if (wcount >= 3) then
        YStat = YStat + 1
        if YStat >= 5 then
          motor(0,0,0,0)
          return
        end
      else
        if YStat > 0 then
          print("Y = "..YStat)
          YStat = YStat - 1
        end
        --YStat = 0
      end
    end
    if b == 3 then -- Sharp above level
      --if DriveBy == 0 then
      --  sharp[1],sharp[2],sharp[3],sharp[4],sharp[5] = s()
      --  if sharp[1] > 110 then
      --    DriveBy = 1
      --  end
      --else
      --  sharp[1],sharp[2],sharp[3],sharp[4],sharp[5] = s()
      --  if sharp[2] < 80 then
      --    motor(0,0,0,0)
      --    return
      --  end
      --end
      sharp[1],sharp[2],sharp[3],sharp[4],sharp[5] = s()
      if sharp[1] > 160 then
        SharpCount = SharpCount + 1
        if SharpCount > 5 then
          motor(0,0,0,0)
          return
        end
      else
        if SharpCount > 0 then
          SharpCount = SharpCount - 1
        end
      end
    end
    if b == 4 then -- Sample Check
      if dcount > e then
        motor(0,0,0,0)
        return
      end
    end
    LP = (-1000*x[1]-500*x[2]+500*x[4]+1000*x[5])/(x[1]+x[2]+x[3]+x[4]+x[5])
    xLP = ((c * LP) + (d * (LP - GL))) / 100
    if xLP > 1000 then
      xLP = 1000
    end
    if xLP < -1000 then
      xLP = -1000
    end
    ret = (xLP * a) /500
    if ret ~= glret then
      if ret < 0 then
        motor(1,a,1,a + ret)
      else
        motor(1,a - ret,1,a)
      end
      glret = ret
    end
    GL = LP
    dcount = dcount + 1
  until ccheck()
  motor(0,0,0,0)
  print("Samples "..dcount)
end