gs1=0
gs2=0
function FollowBlackLine(mx,mi)
  styrsort2(3,0,0,0,99,mx,mi)
end
function korrstyr(xa,xb,di)
  return (((di^xa) * (100 - xb)) / (100^xa)) + ((di * xb) / 100)
end
function motorstyrsort(v1,v2,speed,korr)
  local s1,s2,r1,r2
  if korr ~= 0 then
    korrsp = (korr * 2 * speed) / 100
    if korrsp > (speed*2) then
      korrsp = speed
    end
  else
    korrsp = 0
  end
  if v1 < v2 then
    s1 = speed
    s2 = speed - korrsp
  elseif v1 > v2 then
    s1 = speed - korrsp
    s2 = speed
  else
    s1 = speed
    s2 = speed
  end
  if s1 ~= gs1 or s2 ~= gs2 then
    if s1 < 0 then
      r1 = 0
    else
      r1 = 1
    end
    if s2 < 0 then
      r2 = 0
    else
      r2 = 1
    end
    motor(r2,abs(floor(s2)),r1,abs(floor(s1)))
    gs1 = s1
    gs2 = s2
  end
end
function styrsort2(a,b,c,d,NoLine,maxspeed,minspeed)
  local xspeed=30
  local x={}
  local diff
  local speed=4
  local korr= 0
  local glkorr = 0
  local korrsp
  local wcount,i
  local dcount = 0
  local dmax,dmin
  local v1,v2
  local sharp = {}
  local DriveBy = 0
  dmax=100
  dmin=0
  gs1 = 0
  gs2 = 0
  repeat
    x[1],x[2],x[3],x[4],x[5] = snabel()
    x[1] = ((x[1] - cs1) * 100) / (ch1-cs1)
    x[2] = ((x[2] - cs2) * 100) / (ch2-cs2)
    x[3] = ((x[3] - cs3) * 100) / (ch3-cs3)
    x[4] = ((x[4] - cs4) * 100) / (ch4-cs4)
    x[5] = ((x[5] - cs5) * 100) / (ch5-cs5)
    dmax = max(x[1],x[2],x[3],x[4],x[5])
    dmin = min(x[1],x[2],x[3],x[4],x[5])
    if x[5] > 70 or x[4] > 70 then
      DriveBy = DriveBy + 1
      if DriveBy > 2 then
        motor(0,0,0,0)
        return
      end
    else
      if DriveBy > 0 then
        DriveBy = DriveBy - 1
      end
    end
    x[1] = ((x[1] - dmin) * 100) / (dmax-dmin)
    x[2] = ((x[2] - dmin) * 100) / (dmax-dmin)
    x[3] = ((x[3] - dmin) * 100) / (dmax-dmin)
    x[4] = ((x[4] - dmin) * 100) / (dmax-dmin)
    x[5] = ((x[5] - dmin) * 100) / (dmax-dmin)
    v1 = abs(x[3])
    v2 = abs(x[1])
    diff = abs(v1 - v2)
    korr = korrstyr(a,b,diff)
    if korr ~= glkorr then
      glkorr = korr
      xspeed=xspeed-5
      if xspeed < minspeed then
        xspeed=minspeed
      end
      speed=xspeed/100
      motorstyrsort(v1,v2,speed,korr)
    else
      xspeed=xspeed+3
      if xspeed > maxspeed then
        xspeed = maxspeed
      else
        speed=xspeed/100
        motorstyrsort(v1,v2,speed,korr)
      end
    end
    dcount = dcount + 1
  until ccheck()
  motor(0,0,0,0)
end
function FindBlack(mx,mi)
  styrx2(3,0,60,99,0,mx,mi)
end
function motorstyrx(v1,v2,speed,korr)
  local s1,s2,r1,r2
  if korr ~= 0 then
    korrsp = (korr * 2 * speed) / 100
    if korrsp > (speed*2) then
      korrsp = speed
    end
  else
    korrsp = 0
  end
  if v1 < v2 then
    s1 = speed
    s2 = speed - korrsp
  elseif v1 > v2 then
    s1 = speed - korrsp
    s2 = speed
  else
    s1 = speed
    s2 = speed
  end
  if s1 ~= gs1 or s2 ~= gs2 then
    if s1 < 0 then
      r1 = 0
    else
      r1 = 1
    end
    if s2 < 0 then
      r2 = 0
    else
      r2 = 1
    end
    motor(r1,abs(floor(s1)),r2,abs(floor(s2)))
    gs1 = s1
    gs2 = s2
  end
end
function styrx2(a,b,c,d,NoLine,maxspeed,minspeed)
  local xspeed=30
  local x={}
  local diff
  local speed=4
  local korr= 0
  local glkorr = 0
  local korrsp
  local wcount,i
  local dcount = 0
  local dmax,dmin
  local v1,v2
  local sharp = {}
  local DriveBy = 0
  local Stat = 0
  local Gulv = 0
  local GulvCount = 0
  local GulvAv
  dmax=100
  dmin=0
  gs1 = 0
  gs2 = 0
  repeat
    x[1],x[2],x[3],x[4],x[5] = snabel()
    x[1] = ((x[1] - cs1) * 100) / (ch1-cs1)
    x[2] = ((x[2] - cs2) * 100) / (ch2-cs2)
    x[3] = ((x[3] - cs3) * 100) / (ch3-cs3)
    x[4] = ((x[4] - cs4) * 100) / (ch4-cs4)
    x[5] = ((x[5] - cs5) * 100) / (ch5-cs5)
    dmax = max(x[1],x[2],x[3],x[4],x[5])
    dmin = min(x[1],x[2],x[3],x[4],x[5])
    Gulv = Gulv + x[5]
    GulvCount = GulvCount + 1
    if GulvCount > 500 then
      GulvAv = Gulv / GulvCount
      if x[5] < (GulvAv - 5) then
        Stat = Stat + 1
        if Stat > 5 then
          print("Snit "..GulvAv.." over "..GulvCount.." samples")
          motor(0,0,0,0)
          return
        end
      else
        if Stat > 0 then
          print("Sort Stat "..Stat)
          Stat = Stat - 1
        end
      end
    end
    x[1] = ((x[1] - dmin) * 100) / (dmax-dmin)
    x[2] = ((x[2] - dmin) * 100) / (dmax-dmin)
    x[3] = ((x[3] - dmin) * 100) / (dmax-dmin)
    x[4] = ((x[4] - dmin) * 100) / (dmax-dmin)
    x[5] = ((x[5] - dmin) * 100) / (dmax-dmin)
    v1 = abs(x[3])
    v2 = abs(x[1])
    diff = abs(v1 - v2)
    korr = korrstyr(a,b,diff)
    if korr ~= glkorr then
      glkorr = korr
      xspeed=xspeed-5
      if xspeed < minspeed then
        xspeed=minspeed
      end
      speed=xspeed/100
      motorstyrx(v1,v2,speed,korr)
    else
      xspeed=xspeed+3
      if xspeed > maxspeed then
        xspeed = maxspeed
      else
        speed=xspeed/100
        motorstyrx(v1,v2,speed,korr)
      end
    end
    dcount = dcount + 1
  until ccheck()
  motor(0,0,0,0)
end
function BlackNoek()
  motor(1,2,1,6)
  delay(17000)
  motor(0,0,0,0)
end