00);
 Off(OUT_A+OUT_C);
 */
}
 
void leftpath() {
 printf("PATH: %s SENSOR: %d\n", "LEFT  ", LSENSOR );
}
void rightpath() {
 printf("PATH: %s SENSOR: %d\n", "RIGHT ", LSENSOR);
}
 
void followline(int untilobst)
{
 while (1)
 {
 untilfunction(untilobst);
 if (retval==1) { printf("return\x0a"); return; }
  {
   if (LSENSOR<=LTHRESH_BLACK)
   {
    rightpath();
   }
   else if (RSENSOR<=RTHRESH_BLACK)