Pilot.setLinearSpeed(3);
		boolean LSense = false;
		boolean RSense = false;
		this.Pilot.forward();

		while(!LSense && !RSense) {
			LSense = LBlack();
			RSense = RBlack();
		}

		this.Pilot.stop();
		Pilot.setLinearSpeed(FORWARD_SPEED);

        if (LSense || RSense) {
	       if (LSense) {
	    	   gyroReset();
	    	   double GyroReading = getGyroSample();
	    	   while(GyroReading < 5 || GyroReading < -5) {
	    		   while(!LSense) {
	     	    	   this.tinyRotate(-1);
	     	    	   GyroReading = getGyroSample();
	     	    	   LSense = LBlack();
	     	    	};
	    	    	do {
	    	    	   this.tinyRotate(-1);
	    	    	   GyroReading = getGyroSample();
	    	    	   RSense = RBlack();
	    	    	}while(!RSense);
	    	    	break;
	    	  	}
    	    }
    	    else if (RSense) {
    	    	gyroReset();
    	    	double GyroReading = getGyroSample();
 	    	   	while(GyroReading < 5 || GyroReading < -5) {
	    	    	do {
	     	    	   this.tinyRotate(1);
	     	    	   GyroReading = getGyroSample();
	     	    	   RSense = RBlack();
	     	    	}while(!RSense);

	    	    	do {
	     	    	   this.tinyRotate(1);
	     	    	   GyroReading = getGyroSample();
	     	    	  LSense = LBlack();
	    	    	}while(!LSense);
	    	    	break;
 	    	   	}
    	    }
        }