Not tested to work just yet

I changed the tune value in drivetrain
and i added a simple if statement in the PID loop to alert us if we're on the line or not, so later we can add a seek and rediscover

Joe/Tumbler Bot/TumbleBot Line Follower Basic/drivetrain.h

@@ -2,7 +2,7 @@
 
 void starboardDriveTrain(float speed) //function to drive each of the starboard wheels using value speed,
 {
-	float tune = 1.4000; //tune adjust for the variablity of the wheels
+	float tune = 1.4300; //tune adjust for the variablity of the wheels
 
 	motor[starboardFore] = (speed * tune); //Set both motors to the speed given and multiply them by thr tune value
 	motor[starboardAft] = (speed * tune);

Joe/Tumbler Bot/TumbleBot Line Follower Basic/lineFollowing.h

@@ -15,6 +15,7 @@ void linePID(int speed, char statusLight) //serious maths
 	float Kp = 0.012; //proportional
 	//float Ki = 0.05; //integral
 	//float Kd = 0.05; //derivative
+	int threshold = 400; //The value at witch we can differ a black line from a white table, we could make this a self calibrating value!!
 
 	float error = SensorValue[starboardReflector] - SensorValue[portReflector]; //rescan the error
 
@@ -40,5 +41,10 @@ void linePID(int speed, char statusLight) //serious maths
 		/* we've multiplied the weight(kp) by error, but the error number is negative in the starboard side so that we can stray backwards
 		* and away from the line when we impact it on the corrosponding side
 		*/
+
+		if(SensorValue[masterReflector] >= threshold) //Just a test, if the value of master reflector is greater than the threshold
+		{
+			SensorValue[LED] = true; //LED on
+		}
 	}
 }

Joe/Tumbler Bot/TumbleBot Line Follower Basic/source.c

@@ -19,8 +19,6 @@
 
 task main()
 {
-	int threshold = 800; //The value at witch we can differ a black line from a white table, we could make this a self calibrating value!!
-
 	while(true)
 	{
 		startup(bumpSwitch, LED);