unsigned int lineData[2];
	unsigned char n;
	unsigned char buffer[255];
	unsigned char p;
	unsigned char baffer[255];

	while(1){
	LineData (lineData);

		FrontLED(ON);

		n = sprintf(buffer,"Linker Wert ist %u, rechter Wert ist %u.\n",
		lineData[0],lineData[1]);

		SerWrite(buffer,n);

		p=sprintf(baffer, "Taste: %u\n", PollSwitch());

		SerWrite(baffer,p);

		MotorSpeed(150,150);
		MotorDir(FWD,FWD);



	if (lineData[0]<50&&lineData[1]<50){
		MotorSpeed(50,150);
		MotorDir(RWD,RWD);
			}	Pause(10);

				}