Removed debug, and tank spin, updated comments

Ive added a lot more comments, so ill re-release the Headerfiles

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

@@ -10,21 +10,30 @@ void findLine()
 	halt(); //stop motors
 }
 
-void linePID(int speed) //serious maths
+void linePID(int speed, char statusLight) //serious maths
 {
 	float Kp = 0.005; //proportional
 	//float Ki = 0.05; //integral
 	//float Kd = 0.05; //derivative
 
 	float error = SensorValue[starboardReflector] - SensorValue[portReflector];
-	// In a PID loop, the goal is to aproach the target, but not overshoot it, a good PID loop can swoosh right to the target, while many others simply just, rush past it and come back right after, this mathamtical form of position control has been around since the first basic electronic navigation systems
+	/* In a PID loop, the goal is to aproach the target, but not overshoot it, a good PID loop can swoosh right to the target, 
+	 * while many others simply just, rush past it and come back right after, this mathamtical form of position control has been
+	 * around since the first basic electronic navigation systems
+	 */
 
-	if((abs(error)) <= 10) //deadzone
+if((abs(error)) <= 100) //While the absolute value of the error (pos || neg) is less than the deadzone, do nothing, just drive ahead
 	{
-		//nothing
+		SensorValue[statusLight] = true; //Turn on the LED while tracking center
+		portDriveTrain(speed); //drive at speed
+		starboardDriveTrain(speed); //drive at speed
+		/* It is well understood that the motors very often do not drive at the same rate, so its likely we'll wobble or hug one side of 
+		 * line, this is not all that bad tbh
+		 */
 	}
 	else
 	{
+		SensorValue[statusLight] = false;
 		portDriveTrain(speed + (Kp * error)); //Subtract or add to the value speed, the error multplied by its weight (Kp)
 		starboardDriveTrain(speed + (Kp * (error * -1))); //Subtract or add to the value speed, the error multplied by its weight (Kp)
 	}

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

@@ -19,14 +19,16 @@
 
 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);
 		findLine(); //our first task is to find where the line is, duh, so we can follow it!
 
-		while(true)
+		while(SensorValue[masterReflector] >= threshold)
 		{
-			linePID(20); //call the PID loop with a speed of 20
+			linePID(20, LED); //call the PID loop with a speed of 20
 		}
 	}
 }