Programming the Mindstorms to ride on the black line

Programming the Mindstorms to use the light sensor and ride on the black line of the test poster proved more than difficult.

Although I did my share of programming in the past the Lego way of writing a program differs much from traditional programming.

But hey - finally we managed it to have the thing ride a round!

Here is the program.-As we are still learning to do this any comment on the program is appreciated.

And here is the video.