I have nearly finished the building of my robot there will be photos of the finished robot soon with all the modifications i made to it. i will be posting screen shots of my programming as i start.

For the programming I was thinking about having everything in two different flow lines, like you can see in the screen shot of my other programming. one line will be the actions for not seeing a line and the other will be the actions for having seen a line. I think I will do the same for the touch sensor, i am not sure about the other sensors I will have to think about that some more.