/* This file is automatically generated while dui runs. It shows a frame by frame debug output as well as any other relevant information. */ 127 : black level: 1716, white level: 2264 63 : black level: 4800, white level: 0 95 : black level: 4142, white level: 116 111 : black level: 3829, white level: 946 brightness determined: 111 0 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:138 encoder: 8 , brightness: 163 1 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 25 , brightness: 162 2 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:138 encoder: 42 , brightness: 161 3 x1:39 y1:0 x2:41 y2:40 slope:20.000000 theta:0.450838 turn:136 encoder: 63 , brightness: 160 4 x1:39 y1:0 x2:39 y2:40 slope:0.000000 theta:0.500796 turn:134 encoder: 88 , brightness: 160 5 x1:39 y1:0 x2:39 y2:40 slope:0.000000 theta:0.500796 turn:134 encoder: 112 , brightness: 159 6 x1:39 y1:0 x2:41 y2:40 slope:20.000000 theta:0.450838 turn:135 encoder: 136 , brightness: 159 7 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:138 encoder: 161 , brightness: 159 8 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 188 , brightness: 158 9 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 212 , brightness: 158 10 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 238 , brightness: 158 11 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 267 , brightness: 158 12 x1:39 y1:0 x2:42 y2:40 slope:13.333333 theta:0.425936 turn:137 encoder: 294 , brightness: 158 13 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 321 , brightness: 158 14 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 350 , brightness: 158 15 x1:39 y1:0 x2:42 y2:40 slope:13.333333 theta:0.425936 turn:137 encoder: 376 , brightness: 158 16 x1:39 y1:0 x2:42 y2:40 slope:13.333333 theta:0.425936 turn:137 encoder: 400 , brightness: 157 17 x1:39 y1:0 x2:42 y2:40 slope:13.333333 theta:0.425936 turn:137 encoder: 428 , brightness: 157 18 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:138 encoder: 454 , brightness: 157 19 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:138 encoder: 478 , brightness: 157 20 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 506 , brightness: 157 21 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:138 encoder: 534 , brightness: 157 22 x1:39 y1:0 x2:42 y2:40 slope:13.333333 theta:0.425936 turn:137 encoder: 558 , brightness: 157 23 x1:39 y1:0 x2:41 y2:40 slope:20.000000 theta:0.450838 turn:136 encoder: 584 , brightness: 157 24 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 610 , brightness: 157 25 x1:39 y1:0 x2:41 y2:40 slope:20.000000 theta:0.450838 turn:136 encoder: 637 , brightness: 157 26 x1:39 y1:0 x2:42 y2:40 slope:13.333333 theta:0.425936 turn:137 encoder: 663 , brightness: 157 27 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:138 encoder: 689 , brightness: 157 28 x1:39 y1:0 x2:47 y2:40 slope:5.000000 theta:0.303401 turn:142 encoder: 723 , brightness: 158 29 x1:39 y1:0 x2:49 y2:40 slope:4.000000 theta:0.255818 turn:144 encoder: 753 , brightness: 157 30 x1:39 y1:0 x2:47 y2:40 slope:5.000000 theta:0.303401 turn:142 encoder: 788 , brightness: 157 31 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 815 , brightness: 157 32 x1:39 y1:0 x2:41 y2:40 slope:20.000000 theta:0.450838 turn:136 encoder: 850 , brightness: 157 33 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:130 encoder: 880 , brightness: 157 34 x1:39 y1:0 x2:37 y2:40 slope:-20.000000 theta:0.550755 turn:132 encoder: 911 , brightness: 157 35 x1:39 y1:0 x2:42 y2:40 slope:13.333333 theta:0.425936 turn:136 encoder: 941 , brightness: 157 36 x1:39 y1:0 x2:50 y2:40 slope:3.636364 theta:0.232430 turn:145 encoder: 972 , brightness: 157 37 x1:39 y1:0 x2:56 y2:40 slope:2.352941 theta:0.098926 turn:151 encoder: 1002 , brightness: 157 38 x1:39 y1:0 x2:60 y2:40 slope:1.904762 theta:0.017349 turn:154 encoder: 1031 , brightness: 157 39 x1:39 y1:0 x2:58 y2:40 slope:2.105263 theta:0.057348 turn:152 encoder: 1064 , brightness: 157 40 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 1093 , brightness: 157 41 x1:39 y1:0 x2:50 y2:40 slope:3.636364 theta:0.232430 turn:145 encoder: 1119 , brightness: 157 42 x1:39 y1:0 x2:48 y2:40 slope:4.444444 theta:0.279482 turn:143 encoder: 1146 , brightness: 157 43 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 1173 , brightness: 157 44 x1:39 y1:0 x2:50 y2:40 slope:3.636364 theta:0.232430 turn:145 encoder: 1201 , brightness: 157 45 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 1227 , brightness: 157 46 x1:39 y1:0 x2:55 y2:40 slope:2.500000 theta:0.120290 turn:150 encoder: 1250 , brightness: 157 47 x1:39 y1:0 x2:56 y2:40 slope:2.352941 theta:0.098926 turn:151 encoder: 1279 , brightness: 157 48 x1:39 y1:0 x2:57 y2:40 slope:2.222222 theta:0.077942 turn:151 encoder: 1301 , brightness: 158 49 x1:39 y1:0 x2:59 y2:40 slope:2.000000 theta:0.037149 turn:153 encoder: 1328 , brightness: 158 50 x1:39 y1:0 x2:60 y2:40 slope:1.904762 theta:0.017349 turn:154 encoder: 1352 , brightness: 158 51 x1:39 y1:0 x2:59 y2:40 slope:2.000000 theta:0.037149 turn:153 encoder: 1384 , brightness: 158 52 x1:39 y1:0 x2:56 y2:40 slope:2.352941 theta:0.098926 turn:151 encoder: 1411 , brightness: 158 53 x1:39 y1:0 x2:49 y2:40 slope:4.000000 theta:0.255818 turn:144 encoder: 1441 , brightness: 158 54 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 1467 , brightness: 158 55 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 1489 , brightness: 158 56 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 1509 , brightness: 158 57 x1:39 y1:0 x2:42 y2:40 slope:13.333333 theta:0.425936 turn:137 encoder: 1528 , brightness: 158 58 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:138 encoder: 1545 , brightness: 158 59 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 1567 , brightness: 158 60 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 1585 , brightness: 158 61 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:138 encoder: 1602 , brightness: 158 62 x1:39 y1:0 x2:42 y2:40 slope:13.333333 theta:0.425936 turn:137 encoder: 1621 , brightness: 158 63 x1:39 y1:0 x2:41 y2:40 slope:20.000000 theta:0.450838 turn:136 encoder: 1644 , brightness: 158 64 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 1667 , brightness: 158 65 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 1684 , brightness: 158 66 x1:39 y1:0 x2:41 y2:40 slope:20.000000 theta:0.450838 turn:136 encoder: 1705 , brightness: 159 67 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:138 encoder: 1728 , brightness: 158 68 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 1749 , brightness: 159 69 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 1766 , brightness: 158 70 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 1788 , brightness: 158 71 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 1807 , brightness: 158 72 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:138 encoder: 1826 , brightness: 158 73 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:138 encoder: 1848 , brightness: 158 74 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:138 encoder: 1867 , brightness: 158 75 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 1887 , brightness: 159 76 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 1906 , brightness: 158 77 x1:39 y1:0 x2:47 y2:40 slope:5.000000 theta:0.303401 turn:142 encoder: 1926 , brightness: 159 78 x1:39 y1:0 x2:47 y2:40 slope:5.000000 theta:0.303401 turn:142 encoder: 1945 , brightness: 159 79 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 1966 , brightness: 159 80 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 1984 , brightness: 158 81 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 2003 , brightness: 158 82 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 2020 , brightness: 159 83 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 2038 , brightness: 158 84 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 2054 , brightness: 159 85 x1:39 y1:0 x2:42 y2:40 slope:13.333333 theta:0.425936 turn:137 encoder: 2072 , brightness: 159 86 x1:39 y1:0 x2:37 y2:40 slope:-20.000000 theta:0.550755 turn:133 encoder: 2086 , brightness: 159 87 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 2105 , brightness: 159 88 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 2121 , brightness: 159 89 x1:39 y1:0 x2:36 y2:40 slope:-13.333333 theta:0.575656 turn:131 encoder: 2140 , brightness: 159 90 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 2161 , brightness: 159 91 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 2187 , brightness: 160 92 x1:39 y1:0 x2:47 y2:40 slope:5.000000 theta:0.303401 turn:142 encoder: 2208 , brightness: 159 93 x1:39 y1:0 x2:48 y2:40 slope:4.444444 theta:0.279482 turn:143 encoder: 2233 , brightness: 160 94 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 2259 , brightness: 160 95 x1:39 y1:0 x2:46 y2:38 slope:5.428571 theta:0.318628 turn:142 encoder: 2286 , brightness: 160 96 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 2309 , brightness: 161 97 x1:39 y1:0 x2:42 y2:40 slope:13.333333 theta:0.425936 turn:137 encoder: 2336 , brightness: 161 98 x1:39 y1:0 x2:38 y2:40 slope:-40.000000 theta:0.525791 turn:134 encoder: 2361 , brightness: 162 99 x1:39 y1:0 x2:37 y2:40 slope:-20.000000 theta:0.550755 turn:132 encoder: 2386 , brightness: 162 100 x1:39 y1:0 x2:38 y2:40 slope:-40.000000 theta:0.525791 turn:133 encoder: 2413 , brightness: 161 101 x1:39 y1:0 x2:39 y2:40 slope:0.000000 theta:0.500796 turn:134 encoder: 2433 , brightness: 161 102 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:136 encoder: 2459 , brightness: 160 103 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 2486 , brightness: 160 104 x1:39 y1:0 x2:48 y2:40 slope:4.444444 theta:0.279482 turn:143 encoder: 2511 , brightness: 160 105 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 2537 , brightness: 160 106 x1:39 y1:0 x2:38 y2:40 slope:-40.000000 theta:0.525791 turn:134 encoder: 2560 , brightness: 160 107 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 2586 , brightness: 161 108 x1:39 y1:0 x2:26 y2:40 slope:-3.076923 theta:0.815028 turn:122 encoder: 2614 , brightness: 161 109 x1:39 y1:0 x2:26 y2:40 slope:-3.076923 theta:0.815028 turn:122 encoder: 2640 , brightness: 161 110 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 2664 , brightness: 161 111 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 2691 , brightness: 161 112 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 2711 , brightness: 161 113 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 2738 , brightness: 162 114 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 2760 , brightness: 161 115 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 2788 , brightness: 162 116 x1:39 y1:0 x2:36 y2:40 slope:-13.333333 theta:0.575656 turn:131 encoder: 2814 , brightness: 163 117 x1:39 y1:0 x2:39 y2:40 slope:0.000000 theta:0.500796 turn:134 encoder: 2840 , brightness: 163 118 x1:39 y1:0 x2:37 y2:40 slope:-20.000000 theta:0.550755 turn:132 encoder: 2870 , brightness: 163 119 x1:39 y1:0 x2:28 y2:40 slope:-3.636364 theta:0.769163 turn:124 encoder: 2900 , brightness: 163 120 x1:39 y1:0 x2:41 y2:20 slope:10.000000 theta:0.401128 turn:136 encoder: 2930 , brightness: 164 121 x1:39 y1:0 x2:27 y2:40 slope:-3.333333 theta:0.792253 turn:129 encoder: 2962 , brightness: 164 122 x1:39 y1:0 x2:24 y2:40 slope:-2.666667 theta:0.859567 turn:120 encoder: 3000 , brightness: 165 123 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 3044 , brightness: 166 124 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 3098 , brightness: 166 125 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:141 encoder: 3160 , brightness: 166 126 Too few accurate pixels at bottom of image encoder: 3207 , brightness: 166 127 Too few accurate pixels at bottom of image encoder: 3249 , brightness: 166 128 Too few accurate pixels at bottom of image encoder: 3287 , brightness: 166 129 Too few accurate pixels at bottom of image encoder: 3325 , brightness: 166 130 Too few accurate pixels at bottom of image encoder: 3362 , brightness: 166 131 x1:39 y1:0 x2:57 y2:40 slope:2.222222 theta:0.077942 turn:151 encoder: 3397 , brightness: 166 132 x1:39 y1:0 x2:55 y2:40 slope:2.500000 theta:0.120290 turn:150 encoder: 3433 , brightness: 166 133 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 3467 , brightness: 166 134 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:132 encoder: 3500 , brightness: 166 135 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 3533 , brightness: 166 136 x1:39 y1:0 x2:24 y2:40 slope:-2.666667 theta:0.859567 turn:120 encoder: 3563 , brightness: 166 137 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 3592 , brightness: 166 138 x1:39 y1:0 x2:39 y2:40 slope:0.000000 theta:0.500796 turn:134 encoder: 3620 , brightness: 167 139 x1:39 y1:0 x2:48 y2:40 slope:4.444444 theta:0.279482 turn:139 encoder: 3649 , brightness: 167 140 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 3673 , brightness: 167 141 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 3695 , brightness: 167 142 x1:39 y1:0 x2:49 y2:40 slope:4.000000 theta:0.255818 turn:144 encoder: 3714 , brightness: 167 143 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 3729 , brightness: 167 144 x1:39 y1:0 x2:39 y2:40 slope:0.000000 theta:0.500796 turn:134 encoder: 3740 , brightness: 164 145 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 3754 , brightness: 164 146 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 3782 , brightness: 164 147 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 3814 , brightness: 164 148 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 3845 , brightness: 163 149 x1:39 y1:0 x2:27 y2:40 slope:-3.333333 theta:0.792253 turn:123 encoder: 3871 , brightness: 163 150 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 3896 , brightness: 163 151 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 3926 , brightness: 163 152 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 3954 , brightness: 162 153 x1:39 y1:0 x2:28 y2:40 slope:-3.636364 theta:0.769163 turn:124 encoder: 3989 , brightness: 162 154 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 4025 , brightness: 162 155 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 4059 , brightness: 162 156 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 4089 , brightness: 161 157 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 4119 , brightness: 162 158 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 4147 , brightness: 161 159 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 4172 , brightness: 161 160 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 4201 , brightness: 161 161 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 4230 , brightness: 161 162 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 4258 , brightness: 160 163 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 4289 , brightness: 160 164 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 4323 , brightness: 161 165 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 4349 , brightness: 160 166 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 4382 , brightness: 160 167 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 4414 , brightness: 160 168 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 4444 , brightness: 160 169 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 4472 , brightness: 160 170 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 4497 , brightness: 160 171 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 4520 , brightness: 160 172 x1:39 y1:0 x2:39 y2:40 slope:0.000000 theta:0.500796 turn:134 encoder: 4541 , brightness: 160 173 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:136 encoder: 4566 , brightness: 161 174 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 4587 , brightness: 160 175 x1:39 y1:0 x2:49 y2:40 slope:4.000000 theta:0.255818 turn:144 encoder: 4610 , brightness: 161 176 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 4632 , brightness: 160 177 x1:39 y1:0 x2:50 y2:40 slope:3.636364 theta:0.232430 turn:145 encoder: 4663 , brightness: 161 178 x1:39 y1:0 x2:48 y2:40 slope:4.444444 theta:0.279482 turn:143 encoder: 4690 , brightness: 160 179 x1:39 y1:0 x2:48 y2:40 slope:4.444444 theta:0.279482 turn:143 encoder: 4722 , brightness: 160 180 x1:39 y1:0 x2:49 y2:40 slope:4.000000 theta:0.255818 turn:144 encoder: 4751 , brightness: 160 181 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 4785 , brightness: 161 182 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 4817 , brightness: 160 183 x1:39 y1:0 x2:56 y2:40 slope:2.352941 theta:0.098926 turn:151 encoder: 4849 , brightness: 161 184 x1:39 y1:0 x2:56 y2:40 slope:2.352941 theta:0.098926 turn:151 encoder: 4879 , brightness: 160 185 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 4914 , brightness: 161 186 x1:39 y1:0 x2:50 y2:40 slope:3.636364 theta:0.232430 turn:145 encoder: 4943 , brightness: 160 187 x1:39 y1:0 x2:50 y2:40 slope:3.636364 theta:0.232430 turn:145 encoder: 4972 , brightness: 160 188 x1:39 y1:0 x2:50 y2:40 slope:3.636364 theta:0.232430 turn:145 encoder: 4996 , brightness: 160 189 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 5021 , brightness: 161 190 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 5047 , brightness: 161 191 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 5077 , brightness: 161 192 x1:39 y1:0 x2:55 y2:40 slope:2.500000 theta:0.120290 turn:150 encoder: 5104 , brightness: 161 193 x1:39 y1:0 x2:57 y2:40 slope:2.222222 theta:0.077942 turn:151 encoder: 5135 , brightness: 161 194 x1:39 y1:0 x2:55 y2:40 slope:2.500000 theta:0.120290 turn:150 encoder: 5163 , brightness: 161 195 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 5196 , brightness: 161 196 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 5227 , brightness: 161 197 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 5261 , brightness: 161 198 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 5286 , brightness: 161 199 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 5320 , brightness: 161 200 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 5355 , brightness: 162 201 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 5391 , brightness: 162 202 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 5421 , brightness: 163 203 x1:39 y1:0 x2:57 y2:40 slope:2.222222 theta:0.077942 turn:151 encoder: 5451 , brightness: 163 204 Couldn't follow the line high enough encoder: 5474 , brightness: 164 205 x1:39 y1:0 x2:58 y2:40 slope:2.105263 theta:0.057348 turn:152 encoder: 5501 , brightness: 163 206 x1:39 y1:0 x2:58 y2:40 slope:2.105263 theta:0.057348 turn:152 encoder: 5530 , brightness: 163 207 x1:39 y1:0 x2:57 y2:40 slope:2.222222 theta:0.077942 turn:151 encoder: 5552 , brightness: 162 208 x1:39 y1:0 x2:56 y2:40 slope:2.352941 theta:0.098926 turn:151 encoder: 5583 , brightness: 162 209 x1:39 y1:0 x2:56 y2:40 slope:2.352941 theta:0.098926 turn:151 encoder: 5608 , brightness: 161 210 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 5636 , brightness: 162 211 x1:39 y1:0 x2:51 y2:40 slope:3.333333 theta:0.209340 turn:146 encoder: 5659 , brightness: 161 212 x1:39 y1:0 x2:50 y2:40 slope:3.636364 theta:0.232430 turn:145 encoder: 5686 , brightness: 162 213 x1:39 y1:0 x2:51 y2:40 slope:3.333333 theta:0.209340 turn:146 encoder: 5710 , brightness: 161 214 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 5736 , brightness: 162 215 x1:39 y1:0 x2:55 y2:40 slope:2.500000 theta:0.120290 turn:150 encoder: 5758 , brightness: 161 216 x1:39 y1:0 x2:55 y2:40 slope:2.500000 theta:0.120290 turn:150 encoder: 5785 , brightness: 161 217 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 5810 , brightness: 161 218 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 5836 , brightness: 162 219 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 5856 , brightness: 161 220 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 5880 , brightness: 161 221 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 5904 , brightness: 161 222 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 5925 , brightness: 162 223 x1:39 y1:0 x2:51 y2:40 slope:3.333333 theta:0.209340 turn:146 encoder: 5949 , brightness: 161 224 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 5971 , brightness: 162 225 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 5993 , brightness: 161 226 x1:39 y1:0 x2:48 y2:40 slope:4.444444 theta:0.279482 turn:143 encoder: 6016 , brightness: 162 227 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 6039 , brightness: 162 228 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:138 encoder: 6059 , brightness: 162 229 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 6081 , brightness: 162 230 x1:39 y1:0 x2:36 y2:40 slope:-13.333333 theta:0.575656 turn:131 encoder: 6103 , brightness: 161 231 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 6129 , brightness: 162 232 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 6154 , brightness: 162 233 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 6175 , brightness: 162 234 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 6201 , brightness: 162 235 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 6224 , brightness: 162 236 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 6245 , brightness: 162 237 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 6272 , brightness: 162 238 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 6296 , brightness: 162 239 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 6322 , brightness: 162 240 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 6347 , brightness: 162 241 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 6370 , brightness: 162 242 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 6396 , brightness: 162 243 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 6421 , brightness: 162 244 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 6447 , brightness: 162 245 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 6476 , brightness: 162 246 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 6505 , brightness: 162 247 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 6531 , brightness: 163 248 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 6562 , brightness: 164 249 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 6594 , brightness: 165 250 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 6625 , brightness: 164 251 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 6659 , brightness: 163 252 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 6698 , brightness: 163 253 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 6734 , brightness: 162 254 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 6772 , brightness: 162 255 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 6805 , brightness: 162 256 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 6832 , brightness: 162 257 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 6861 , brightness: 162 258 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 6892 , brightness: 162 259 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 6925 , brightness: 162 260 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 6959 , brightness: 163 261 x1:39 y1:0 x2:28 y2:40 slope:-3.636364 theta:0.769163 turn:124 encoder: 6990 , brightness: 163 262 x1:39 y1:0 x2:28 y2:40 slope:-3.636364 theta:0.769163 turn:124 encoder: 7018 , brightness: 163 263 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 7047 , brightness: 163 264 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 7076 , brightness: 163 265 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 7105 , brightness: 163 266 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 7134 , brightness: 163 267 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 7161 , brightness: 163 268 x1:39 y1:0 x2:50 y2:40 slope:3.636364 theta:0.232430 turn:145 encoder: 7186 , brightness: 163 269 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 7213 , brightness: 163 270 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 7239 , brightness: 163 271 x1:39 y1:0 x2:51 y2:40 slope:3.333333 theta:0.209340 turn:146 encoder: 7266 , brightness: 163 272 x1:39 y1:0 x2:49 y2:40 slope:4.000000 theta:0.255818 turn:144 encoder: 7296 , brightness: 163 273 x1:39 y1:0 x2:47 y2:40 slope:5.000000 theta:0.303401 turn:142 encoder: 7332 , brightness: 164 274 x1:39 y1:0 x2:49 y2:40 slope:4.000000 theta:0.255818 turn:144 encoder: 7361 , brightness: 163 275 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 7394 , brightness: 164 276 x1:39 y1:0 x2:56 y2:40 slope:2.352941 theta:0.098926 turn:151 encoder: 7420 , brightness: 163 277 x1:39 y1:0 x2:56 y2:40 slope:2.352941 theta:0.098926 turn:151 encoder: 7454 , brightness: 163 278 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 7484 , brightness: 163 279 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 7514 , brightness: 164 280 x1:39 y1:0 x2:51 y2:40 slope:3.333333 theta:0.209340 turn:146 encoder: 7544 , brightness: 164 281 x1:39 y1:0 x2:50 y2:40 slope:3.636364 theta:0.232430 turn:145 encoder: 7578 , brightness: 164 282 x1:39 y1:0 x2:50 y2:40 slope:3.636364 theta:0.232430 turn:145 encoder: 7609 , brightness: 164 283 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 7646 , brightness: 164 284 x1:39 y1:0 x2:56 y2:40 slope:2.352941 theta:0.098926 turn:151 encoder: 7680 , brightness: 164 285 x1:39 y1:0 x2:58 y2:40 slope:2.105263 theta:0.057348 turn:152 encoder: 7713 , brightness: 164 286 x1:39 y1:0 x2:48 y2:19 slope:2.111111 theta:0.058422 turn:152 encoder: 7742 , brightness: 164 287 x1:39 y1:0 x2:57 y2:40 slope:2.222222 theta:0.077942 turn:151 encoder: 7767 , brightness: 164 288 x1:39 y1:0 x2:55 y2:40 slope:2.500000 theta:0.120290 turn:150 encoder: 7794 , brightness: 164 289 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 7823 , brightness: 164 290 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 7849 , brightness: 164 291 x1:39 y1:0 x2:51 y2:40 slope:3.333333 theta:0.209340 turn:146 encoder: 7880 , brightness: 164 292 x1:39 y1:0 x2:51 y2:40 slope:3.333333 theta:0.209340 turn:146 encoder: 7908 , brightness: 164 293 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 7940 , brightness: 164 294 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 7965 , brightness: 164 295 x1:39 y1:0 x2:56 y2:40 slope:2.352941 theta:0.098926 turn:151 encoder: 7996 , brightness: 164 296 x1:39 y1:0 x2:55 y2:40 slope:2.500000 theta:0.120290 turn:150 encoder: 8030 , brightness: 164 297 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 8057 , brightness: 164 298 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 8086 , brightness: 164 299 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 8110 , brightness: 164 300 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 8138 , brightness: 164 301 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 8169 , brightness: 164 302 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 8196 , brightness: 164 303 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 8220 , brightness: 164 304 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 8244 , brightness: 164 305 x1:39 y1:0 x2:55 y2:40 slope:2.500000 theta:0.120290 turn:150 encoder: 8266 , brightness: 164 306 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 8290 , brightness: 164 307 x1:39 y1:0 x2:50 y2:40 slope:3.636364 theta:0.232430 turn:145 encoder: 8309 , brightness: 164 308 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 8330 , brightness: 164 309 x1:39 y1:0 x2:41 y2:40 slope:20.000000 theta:0.450838 turn:136 encoder: 8352 , brightness: 164 310 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:132 encoder: 8377 , brightness: 165 311 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 8397 , brightness: 164 312 x1:39 y1:0 x2:28 y2:40 slope:-3.636364 theta:0.769163 turn:124 encoder: 8419 , brightness: 165 313 x1:39 y1:0 x2:28 y2:40 slope:-3.636364 theta:0.769163 turn:124 encoder: 8439 , brightness: 164 314 x1:39 y1:0 x2:28 y2:40 slope:-3.636364 theta:0.769163 turn:124 encoder: 8458 , brightness: 164 315 x1:39 y1:0 x2:28 y2:40 slope:-3.636364 theta:0.769163 turn:124 encoder: 8480 , brightness: 164 316 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 8505 , brightness: 165 317 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 8528 , brightness: 165 318 x1:39 y1:0 x2:27 y2:40 slope:-3.333333 theta:0.792253 turn:123 encoder: 8555 , brightness: 165 319 x1:39 y1:0 x2:26 y2:40 slope:-3.076923 theta:0.815028 turn:122 encoder: 8579 , brightness: 165 320 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 8604 , brightness: 165 321 x1:39 y1:0 x2:21 y2:40 slope:-2.222222 theta:0.923650 turn:118 encoder: 8631 , brightness: 165 322 x1:39 y1:0 x2:18 y2:40 slope:-1.904762 theta:0.984243 turn:115 encoder: 8661 , brightness: 166 323 x1:39 y1:0 x2:18 y2:40 slope:-1.904762 theta:0.984243 turn:115 encoder: 8692 , brightness: 167 324 x1:39 y1:0 x2:20 y2:40 slope:-2.105263 theta:0.944245 turn:117 encoder: 8720 , brightness: 167 325 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 8751 , brightness: 166 326 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 8781 , brightness: 165 327 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 8811 , brightness: 165 328 x1:39 y1:0 x2:22 y2:40 slope:-2.352941 theta:0.902667 turn:118 encoder: 8839 , brightness: 165 329 x1:39 y1:0 x2:19 y2:40 slope:-2.000000 theta:0.964444 turn:116 encoder: 8867 , brightness: 165 330 x1:39 y1:0 x2:17 y2:40 slope:-1.818182 theta:1.000000 turn:115 encoder: 8894 , brightness: 165 331 x1:39 y1:0 x2:17 y2:40 slope:-1.818182 theta:1.000000 turn:115 encoder: 8921 , brightness: 165 332 x1:39 y1:0 x2:17 y2:40 slope:-1.818182 theta:1.000000 turn:105 encoder: 8949 , brightness: 165 333 x1:39 y1:0 x2:17 y2:40 slope:-1.818182 theta:1.000000 turn:110 encoder: 8973 , brightness: 165 334 x1:39 y1:0 x2:28 y2:40 slope:-3.636364 theta:0.769163 turn:124 encoder: 9000 , brightness: 165 335 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 9024 , brightness: 165 336 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 9050 , brightness: 165 337 x1:39 y1:0 x2:36 y2:40 slope:-13.333333 theta:0.575656 turn:131 encoder: 9072 , brightness: 165 338 x1:39 y1:0 x2:38 y2:40 slope:-40.000000 theta:0.525791 turn:133 encoder: 9095 , brightness: 165 339 x1:39 y1:0 x2:42 y2:40 slope:13.333333 theta:0.425936 turn:136 encoder: 9119 , brightness: 165 340 x1:39 y1:0 x2:47 y2:40 slope:5.000000 theta:0.303401 turn:142 encoder: 9144 , brightness: 165 341 x1:39 y1:0 x2:51 y2:40 slope:3.333333 theta:0.209340 turn:146 encoder: 9170 , brightness: 165 342 x1:39 y1:0 x2:55 y2:40 slope:2.500000 theta:0.120290 turn:150 encoder: 9194 , brightness: 165 343 x1:39 y1:0 x2:56 y2:40 slope:2.352941 theta:0.098926 turn:151 encoder: 9223 , brightness: 165 344 x1:39 y1:0 x2:58 y2:40 slope:2.105263 theta:0.057348 turn:152 encoder: 9251 , brightness: 165 345 x1:39 y1:0 x2:60 y2:40 slope:1.904762 theta:0.017349 turn:154 encoder: 9280 , brightness: 165 346 x1:39 y1:0 x2:62 y2:40 slope:1.739130 theta:0.000000 turn:155 encoder: 9309 , brightness: 166 347 x1:39 y1:0 x2:64 y2:40 slope:1.600000 theta:0.000000 turn:155 encoder: 9333 , brightness: 166 348 x1:39 y1:0 x2:65 y2:40 slope:1.538462 theta:0.000000 turn:160 encoder: 9359 , brightness: 166 349 x1:39 y1:0 x2:66 y2:40 slope:1.481481 theta:0.000000 turn:165 encoder: 9384 , brightness: 166 350 x1:39 y1:0 x2:65 y2:40 slope:1.538462 theta:0.000000 turn:165 encoder: 9413 , brightness: 165 351 x1:39 y1:0 x2:58 y2:40 slope:2.105263 theta:0.057348 turn:152 encoder: 9442 , brightness: 166 352 x1:39 y1:0 x2:51 y2:40 slope:3.333333 theta:0.209340 turn:146 encoder: 9470 , brightness: 166 353 x1:39 y1:0 x2:41 y2:40 slope:20.000000 theta:0.450838 turn:136 encoder: 9499 , brightness: 166 354 x1:39 y1:0 x2:31 y2:29 slope:-3.625000 theta:0.769964 turn:129 encoder: 9527 , brightness: 166 355 x1:39 y1:0 x2:61 y2:40 slope:1.818182 theta:0.000000 turn:155 encoder: 9553 , brightness: 166 356 x1:39 y1:0 x2:74 y2:40 slope:1.142857 theta:0.000000 turn:155 encoder: 9580 , brightness: 166 357 x1:39 y1:0 x2:78 y2:40 slope:1.025641 theta:0.000000 turn:160 encoder: 9605 , brightness: 166 358 x1:39 y1:0 x2:78 y2:39 slope:1.000000 theta:0.000000 turn:165 encoder: 9631 , brightness: 166 359 x1:39 y1:0 x2:78 y2:37 slope:0.948718 theta:0.000000 turn:165 encoder: 9656 , brightness: 166 360 x1:39 y1:0 x2:79 y2:40 slope:1.000000 theta:0.000000 turn:165 encoder: 9679 , brightness: 166 361 x1:39 y1:0 x2:78 y2:40 slope:1.025641 theta:0.000000 turn:165 encoder: 9701 , brightness: 166 362 x1:39 y1:0 x2:74 y2:40 slope:1.142857 theta:0.000000 turn:165 encoder: 9723 , brightness: 166 363 x1:39 y1:0 x2:69 y2:40 slope:1.333333 theta:0.000000 turn:165 encoder: 9742 , brightness: 166 364 x1:39 y1:0 x2:65 y2:40 slope:1.538462 theta:0.000000 turn:165 encoder: 9762 , brightness: 166 365 x1:39 y1:0 x2:59 y2:40 slope:2.000000 theta:0.037149 turn:153 encoder: 9783 , brightness: 167 366 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 9802 , brightness: 166 367 x1:39 y1:0 x2:51 y2:40 slope:3.333333 theta:0.209340 turn:146 encoder: 9822 , brightness: 167 368 x1:39 y1:0 x2:51 y2:40 slope:3.333333 theta:0.209340 turn:146 encoder: 9844 , brightness: 166 369 x1:39 y1:0 x2:55 y2:40 slope:2.500000 theta:0.120290 turn:150 encoder: 9862 , brightness: 166 370 x1:39 y1:0 x2:59 y2:40 slope:2.000000 theta:0.037149 turn:153 encoder: 9885 , brightness: 167 371 x1:39 y1:0 x2:65 y2:40 slope:1.538462 theta:0.000000 turn:155 encoder: 9906 , brightness: 166 372 x1:39 y1:0 x2:66 y2:40 slope:1.481481 theta:0.000000 turn:155 encoder: 9930 , brightness: 167 373 x1:39 y1:0 x2:63 y2:40 slope:1.666667 theta:0.000000 turn:160 encoder: 9949 , brightness: 167 374 x1:39 y1:0 x2:61 y2:40 slope:1.818182 theta:0.000000 turn:165 encoder: 9967 , brightness: 167 375 x1:39 y1:0 x2:56 y2:40 slope:2.352941 theta:0.098926 turn:151 encoder: 9987 , brightness: 167 376 x1:39 y1:0 x2:47 y2:40 slope:5.000000 theta:0.303401 turn:142 encoder: 10003 , brightness: 167 377 x1:39 y1:0 x2:37 y2:40 slope:-20.000000 theta:0.550755 turn:133 encoder: 10023 , brightness: 167 378 x1:39 y1:0 x2:40 y2:38 slope:38.000000 theta:0.474487 turn:135 encoder: 10042 , brightness: 167 379 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 10061 , brightness: 168 380 x1:39 y1:0 x2:28 y2:40 slope:-3.636364 theta:0.769163 turn:124 encoder: 10081 , brightness: 168 381 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 10100 , brightness: 168 382 x1:39 y1:0 x2:24 y2:40 slope:-2.666667 theta:0.859567 turn:120 encoder: 10120 , brightness: 168 383 x1:39 y1:0 x2:24 y2:40 slope:-2.666667 theta:0.859567 turn:120 encoder: 10141 , brightness: 168 384 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 10162 , brightness: 168 385 x1:39 y1:0 x2:27 y2:40 slope:-3.333333 theta:0.792253 turn:123 encoder: 10181 , brightness: 168 386 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 10206 , brightness: 168 387 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 10225 , brightness: 168 388 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 10248 , brightness: 168 389 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 10272 , brightness: 168 390 x1:39 y1:0 x2:26 y2:40 slope:-3.076923 theta:0.815028 turn:122 encoder: 10299 , brightness: 168 391 x1:39 y1:0 x2:19 y2:40 slope:-2.000000 theta:0.964444 turn:116 encoder: 10328 , brightness: 168 392 x1:39 y1:0 x2:16 y2:40 slope:-1.739130 theta:1.000000 turn:115 encoder: 10354 , brightness: 168 393 x1:39 y1:0 x2:21 y2:40 slope:-2.222222 theta:0.923650 turn:118 encoder: 10381 , brightness: 168 394 x1:39 y1:0 x2:19 y2:40 slope:-2.000000 theta:0.964444 turn:116 encoder: 10409 , brightness: 168 395 x1:39 y1:0 x2:20 y2:40 slope:-2.105263 theta:0.944245 turn:117 encoder: 10438 , brightness: 168 396 x1:39 y1:0 x2:40 y2:29 slope:29.000000 theta:0.466327 turn:135 encoder: 10464 , brightness: 168 397 x1:39 y1:0 x2:22 y2:40 slope:-2.352941 theta:0.902667 turn:118 encoder: 10488 , brightness: 168 398 x1:39 y1:0 x2:15 y2:40 slope:-1.666667 theta:1.000000 turn:115 encoder: 10513 , brightness: 168 399 x1:39 y1:0 x2:12 y2:40 slope:-1.481481 theta:1.000000 turn:115 encoder: 10536 , brightness: 168 400 x1:39 y1:0 x2:12 y2:40 slope:-1.481481 theta:1.000000 turn:105 encoder: 10562 , brightness: 168 401 x1:39 y1:0 x2:14 y2:40 slope:-1.600000 theta:1.000000 turn:110 encoder: 10586 , brightness: 168 402 x1:39 y1:0 x2:21 y2:40 slope:-2.222222 theta:0.923650 turn:118 encoder: 10613 , brightness: 168 403 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 10638 , brightness: 168 404 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 10665 , brightness: 168 405 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 10692 , brightness: 168 406 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 10719 , brightness: 168 407 x1:39 y1:0 x2:17 y2:40 slope:-1.818182 theta:1.000000 turn:115 encoder: 10745 , brightness: 168 408 x1:39 y1:0 x2:14 y2:40 slope:-1.600000 theta:1.000000 turn:115 encoder: 10770 , brightness: 168 409 x1:39 y1:0 x2:15 y2:40 slope:-1.666667 theta:1.000000 turn:105 encoder: 10795 , brightness: 168 410 x1:39 y1:0 x2:20 y2:40 slope:-2.105263 theta:0.944245 turn:117 encoder: 10819 , brightness: 168 411 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 10843 , brightness: 168 412 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:136 encoder: 10868 , brightness: 168 413 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 10892 , brightness: 168 414 x1:39 y1:0 x2:59 y2:40 slope:2.000000 theta:0.037149 turn:153 encoder: 10918 , brightness: 168 415 x1:39 y1:0 x2:60 y2:40 slope:1.904762 theta:0.017349 turn:154 encoder: 10943 , brightness: 168 416 x1:39 y1:0 x2:58 y2:40 slope:2.105263 theta:0.057348 turn:152 encoder: 10971 , brightness: 168 417 x1:39 y1:0 x2:57 y2:40 slope:2.222222 theta:0.077942 turn:151 encoder: 10998 , brightness: 168 418 x1:39 y1:0 x2:56 y2:40 slope:2.352941 theta:0.098926 turn:151 encoder: 11029 , brightness: 168 419 x1:39 y1:0 x2:56 y2:40 slope:2.352941 theta:0.098926 turn:151 encoder: 11057 , brightness: 168 420 x1:39 y1:0 x2:58 y2:40 slope:2.105263 theta:0.057348 turn:152 encoder: 11085 , brightness: 169 421 x1:39 y1:0 x2:60 y2:40 slope:1.904762 theta:0.017349 turn:154 encoder: 11113 , brightness: 168 422 x1:39 y1:0 x2:64 y2:40 slope:1.600000 theta:0.000000 turn:155 encoder: 11140 , brightness: 168 423 x1:39 y1:0 x2:65 y2:40 slope:1.538462 theta:0.000000 turn:155 encoder: 11170 , brightness: 169 424 x1:39 y1:0 x2:66 y2:40 slope:1.481481 theta:0.000000 turn:160 encoder: 11198 , brightness: 169 425 x1:39 y1:0 x2:68 y2:40 slope:1.379310 theta:0.000000 turn:165 encoder: 11226 , brightness: 170 426 x1:39 y1:0 x2:55 y2:40 slope:2.500000 theta:0.120290 turn:150 encoder: 11253 , brightness: 170 427 x1:39 y1:0 x2:63 y2:40 slope:1.666667 theta:0.000000 turn:155 encoder: 11279 , brightness: 171 428 x1:39 y1:0 x2:64 y2:40 slope:1.600000 theta:0.000000 turn:155 encoder: 11304 , brightness: 171 429 x1:39 y1:0 x2:65 y2:40 slope:1.538462 theta:0.000000 turn:160 encoder: 11328 , brightness: 171 430 x1:39 y1:0 x2:60 y2:40 slope:1.904762 theta:0.017349 turn:154 encoder: 11354 , brightness: 171 431 x1:39 y1:0 x2:63 y2:40 slope:1.666667 theta:0.000000 turn:155 encoder: 11378 , brightness: 170 432 x1:39 y1:0 x2:63 y2:40 slope:1.666667 theta:0.000000 turn:155 encoder: 11404 , brightness: 169 433 x1:39 y1:0 x2:63 y2:40 slope:1.666667 theta:0.000000 turn:160 encoder: 11428 , brightness: 169 434 x1:39 y1:0 x2:67 y2:40 slope:1.428571 theta:0.000000 turn:165 encoder: 11453 , brightness: 169 435 x1:39 y1:0 x2:67 y2:40 slope:1.428571 theta:0.000000 turn:165 encoder: 11474 , brightness: 170 436 x1:39 y1:0 x2:62 y2:40 slope:1.739130 theta:0.000000 turn:165 encoder: 11493 , brightness: 169 437 x1:39 y1:0 x2:60 y2:40 slope:1.904762 theta:0.017349 turn:154 encoder: 11514 , brightness: 170 438 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 11535 , brightness: 170 439 x1:39 y1:0 x2:51 y2:40 slope:3.333333 theta:0.209340 turn:146 encoder: 11556 , brightness: 169 440 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 11579 , brightness: 170 441 x1:39 y1:0 x2:57 y2:40 slope:2.222222 theta:0.077942 turn:151 encoder: 11603 , brightness: 169 442 x1:39 y1:0 x2:63 y2:40 slope:1.666667 theta:0.000000 turn:155 encoder: 11625 , brightness: 169 443 x1:39 y1:0 x2:65 y2:40 slope:1.538462 theta:0.000000 turn:155 encoder: 11648 , brightness: 170 444 x1:39 y1:0 x2:62 y2:40 slope:1.739130 theta:0.000000 turn:160 encoder: 11669 , brightness: 169 445 x1:39 y1:0 x2:57 y2:31 slope:1.722222 theta:0.000000 turn:165 encoder: 11692 , brightness: 170 446 Couldn't follow the line high enough encoder: 11714 , brightness: 170 447 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 11731 , brightness: 170 448 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:138 encoder: 11752 , brightness: 170 449 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:132 encoder: 11768 , brightness: 170 450 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 11787 , brightness: 170 451 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 11810 , brightness: 170 452 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 11831 , brightness: 170 453 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 11851 , brightness: 170 454 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 11877 , brightness: 170 455 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 11900 , brightness: 170 456 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 11922 , brightness: 170 457 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 11945 , brightness: 170 458 x1:39 y1:0 x2:28 y2:40 slope:-3.636364 theta:0.769163 turn:124 encoder: 11969 , brightness: 170 459 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 11993 , brightness: 170 460 x1:39 y1:0 x2:21 y2:40 slope:-2.222222 theta:0.923650 turn:118 encoder: 12018 , brightness: 170 461 x1:39 y1:0 x2:21 y2:40 slope:-2.222222 theta:0.923650 turn:118 encoder: 12043 , brightness: 170 462 x1:39 y1:0 x2:24 y2:40 slope:-2.666667 theta:0.859567 turn:120 encoder: 12068 , brightness: 170 463 x1:39 y1:0 x2:27 y2:40 slope:-3.333333 theta:0.792253 turn:123 encoder: 12098 , brightness: 171 464 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 12131 , brightness: 171 465 x1:39 y1:0 x2:24 y2:40 slope:-2.666667 theta:0.859567 turn:120 encoder: 12156 , brightness: 170 466 x1:39 y1:0 x2:21 y2:40 slope:-2.222222 theta:0.923650 turn:118 encoder: 12187 , brightness: 170 467 x1:39 y1:0 x2:20 y2:40 slope:-2.105263 theta:0.944245 turn:117 encoder: 12215 , brightness: 170 468 x1:39 y1:0 x2:20 y2:40 slope:-2.105263 theta:0.944245 turn:117 encoder: 12244 , brightness: 170 469 x1:39 y1:0 x2:18 y2:40 slope:-1.904762 theta:0.984243 turn:115 encoder: 12271 , brightness: 170 470 x1:39 y1:0 x2:20 y2:40 slope:-2.105263 theta:0.944245 turn:117 encoder: 12302 , brightness: 170 471 x1:39 y1:0 x2:20 y2:40 slope:-2.105263 theta:0.944245 turn:117 encoder: 12333 , brightness: 170 472 x1:39 y1:0 x2:20 y2:40 slope:-2.105263 theta:0.944245 turn:117 encoder: 12362 , brightness: 170 473 x1:39 y1:0 x2:21 y2:40 slope:-2.222222 theta:0.923650 turn:118 encoder: 12387 , brightness: 170 474 x1:39 y1:0 x2:21 y2:40 slope:-2.222222 theta:0.923650 turn:118 encoder: 12416 , brightness: 170 475 x1:39 y1:0 x2:22 y2:40 slope:-2.352941 theta:0.902667 turn:118 encoder: 12443 , brightness: 170 476 x1:39 y1:0 x2:21 y2:40 slope:-2.222222 theta:0.923650 turn:118 encoder: 12469 , brightness: 170 477 x1:39 y1:0 x2:21 y2:40 slope:-2.222222 theta:0.923650 turn:118 encoder: 12493 , brightness: 170 478 x1:39 y1:0 x2:19 y2:40 slope:-2.000000 theta:0.964444 turn:116 encoder: 12516 , brightness: 170 479 x1:39 y1:0 x2:22 y2:40 slope:-2.352941 theta:0.902667 turn:118 encoder: 12543 , brightness: 170 480 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 12570 , brightness: 170 481 x1:39 y1:0 x2:37 y2:40 slope:-20.000000 theta:0.550755 turn:132 encoder: 12595 , brightness: 170 482 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:137 encoder: 12622 , brightness: 170 483 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 12651 , brightness: 171 484 x1:39 y1:0 x2:60 y2:40 slope:1.904762 theta:0.017349 turn:154 encoder: 12678 , brightness: 170 485 x1:39 y1:0 x2:62 y2:40 slope:1.739130 theta:0.000000 turn:155 encoder: 12710 , brightness: 171 486 x1:39 y1:0 x2:61 y2:40 slope:1.818182 theta:0.000000 turn:155 encoder: 12737 , brightness: 170 487 x1:39 y1:0 x2:59 y2:40 slope:2.000000 theta:0.037149 turn:153 encoder: 12765 , brightness: 171 488 x1:39 y1:0 x2:57 y2:40 slope:2.222222 theta:0.077942 turn:151 encoder: 12791 , brightness: 170 489 x1:39 y1:0 x2:57 y2:40 slope:2.222222 theta:0.077942 turn:151 encoder: 12818 , brightness: 170 490 x1:39 y1:0 x2:58 y2:40 slope:2.105263 theta:0.057348 turn:152 encoder: 12843 , brightness: 170 491 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 12867 , brightness: 170 492 x1:39 y1:0 x2:62 y2:40 slope:1.739130 theta:0.000000 turn:155 encoder: 12893 , brightness: 171 493 x1:39 y1:0 x2:67 y2:40 slope:1.428571 theta:0.000000 turn:155 encoder: 12919 , brightness: 171 494 x1:39 y1:0 x2:70 y2:40 slope:1.290323 theta:0.000000 turn:160 encoder: 12942 , brightness: 171 495 x1:39 y1:0 x2:67 y2:40 slope:1.428571 theta:0.000000 turn:165 encoder: 12966 , brightness: 171 496 x1:39 y1:0 x2:56 y2:31 slope:1.823529 theta:0.000000 turn:165 encoder: 12990 , brightness: 171 497 x1:39 y1:0 x2:61 y2:40 slope:1.818182 theta:0.000000 turn:165 encoder: 13016 , brightness: 171 498 x1:39 y1:0 x2:55 y2:40 slope:2.500000 theta:0.120290 turn:150 encoder: 13039 , brightness: 171 499 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 13066 , brightness: 171 500 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 13090 , brightness: 171 501 x1:39 y1:0 x2:51 y2:40 slope:3.333333 theta:0.209340 turn:146 encoder: 13118 , brightness: 172 502 x1:39 y1:0 x2:59 y2:40 slope:2.000000 theta:0.037149 turn:153 encoder: 13143 , brightness: 171 503 x1:39 y1:0 x2:67 y2:40 slope:1.428571 theta:0.000000 turn:155 encoder: 13171 , brightness: 172 504 x1:39 y1:0 x2:71 y2:40 slope:1.250000 theta:0.000000 turn:155 encoder: 13195 , brightness: 171 505 x1:39 y1:0 x2:73 y2:40 slope:1.176471 theta:0.000000 turn:160 encoder: 13221 , brightness: 172 506 x1:39 y1:0 x2:77 y2:40 slope:1.052632 theta:0.000000 turn:165 encoder: 13246 , brightness: 172 507 x1:39 y1:0 x2:74 y2:40 slope:1.142857 theta:0.000000 turn:165 encoder: 13270 , brightness: 172 508 x1:39 y1:0 x2:75 y2:40 slope:1.111111 theta:0.000000 turn:165 encoder: 13294 , brightness: 172 509 x1:39 y1:0 x2:73 y2:40 slope:1.176471 theta:0.000000 turn:165 encoder: 13315 , brightness: 172 510 x1:39 y1:0 x2:67 y2:37 slope:1.321429 theta:0.000000 turn:165 encoder: 13336 , brightness: 172 511 x1:39 y1:0 x2:72 y2:40 slope:1.212121 theta:0.000000 turn:165 encoder: 13358 , brightness: 172 512 x1:39 y1:0 x2:64 y2:40 slope:1.600000 theta:0.000000 turn:165 encoder: 13377 , brightness: 172 513 x1:39 y1:0 x2:60 y2:40 slope:1.904762 theta:0.017349 turn:154 encoder: 13397 , brightness: 172 514 x1:39 y1:0 x2:49 y2:40 slope:4.000000 theta:0.255818 turn:144 encoder: 13419 , brightness: 172 515 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 13435 , brightness: 172 516 Couldn't follow the line high enough encoder: 13456 , brightness: 172 517 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 13475 , brightness: 172 518 x1:39 y1:0 x2:39 y2:40 slope:0.000000 theta:0.500796 turn:134 encoder: 13494 , brightness: 172 519 x1:39 y1:0 x2:37 y2:40 slope:-20.000000 theta:0.550755 turn:132 encoder: 13511 , brightness: 172 520 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 13534 , brightness: 172 521 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 13555 , brightness: 172 522 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 13572 , brightness: 172 523 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 13594 , brightness: 172 524 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 13614 , brightness: 172 525 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 13636 , brightness: 172 526 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 13658 , brightness: 172 527 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 13681 , brightness: 173 528 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 13700 , brightness: 172 529 x1:39 y1:0 x2:26 y2:40 slope:-3.076923 theta:0.815028 turn:122 encoder: 13727 , brightness: 172 530 x1:39 y1:0 x2:22 y2:40 slope:-2.352941 theta:0.902667 turn:118 encoder: 13750 , brightness: 173 531 x1:39 y1:0 x2:19 y2:40 slope:-2.000000 theta:0.964444 turn:116 encoder: 13773 , brightness: 172 532 x1:39 y1:0 x2:21 y2:40 slope:-2.222222 theta:0.923650 turn:118 encoder: 13799 , brightness: 172 533 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 13829 , brightness: 173 534 x1:39 y1:0 x2:27 y2:40 slope:-3.333333 theta:0.792253 turn:123 encoder: 13855 , brightness: 173 535 x1:39 y1:0 x2:26 y2:40 slope:-3.076923 theta:0.815028 turn:122 encoder: 13883 , brightness: 173 536 x1:39 y1:0 x2:23 y2:40 slope:-2.500000 theta:0.881303 turn:119 encoder: 13917 , brightness: 174 537 x1:39 y1:0 x2:19 y2:40 slope:-2.000000 theta:0.964444 turn:116 127 : black level: 3395, white level: 1361 63 : black level: 4800, white level: 0 95 : black level: 4800, white level: 0 111 : black level: 3876, white level: 747 119 : black level: 3655, white level: 1110 115 : black level: 3754, white level: 987 113 : black level: 3753, white level: 986 warning: search past end at 113 using closest brightness setting. please try: - different contrast/white balance settings - looking at a white line on a relatively dark course black level: 3753, white level: 986 brightness determined: 113 encoder: 13948 , brightness: 175 538 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 14008 , brightness: 173 539 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 14022 , brightness: 173 540 x1:39 y1:0 x2:24 y2:40 slope:-2.666667 theta:0.859567 turn:120 encoder: 14041 , brightness: 172 541 x1:39 y1:0 x2:22 y2:40 slope:-2.352941 theta:0.902667 turn:118 encoder: 14068 , brightness: 172 542 x1:39 y1:0 x2:18 y2:40 slope:-1.904762 theta:0.984243 turn:115 encoder: 14095 , brightness: 172 543 x1:39 y1:0 x2:16 y2:40 slope:-1.739130 theta:1.000000 turn:115 encoder: 14126 , brightness: 172 544 x1:39 y1:0 x2:17 y2:40 slope:-1.818182 theta:1.000000 turn:105 encoder: 14151 , brightness: 172 545 x1:39 y1:0 x2:20 y2:40 slope:-2.105263 theta:0.944245 turn:117 encoder: 14179 , brightness: 172 546 x1:39 y1:0 x2:28 y2:40 slope:-3.636364 theta:0.769163 turn:124 encoder: 14208 , brightness: 172 547 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 14233 , brightness: 172 548 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 14260 , brightness: 172 549 x1:39 y1:0 x2:28 y2:40 slope:-3.636364 theta:0.769163 turn:124 encoder: 14286 , brightness: 172 550 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 14311 , brightness: 172 551 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 14338 , brightness: 172 552 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 14364 , brightness: 172 553 x1:39 y1:0 x2:47 y2:40 slope:5.000000 theta:0.303401 turn:142 encoder: 14394 , brightness: 172 554 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 14424 , brightness: 172 555 x1:39 y1:0 x2:59 y2:40 slope:2.000000 theta:0.037149 turn:153 encoder: 14450 , brightness: 172 556 x1:39 y1:0 x2:62 y2:40 slope:1.739130 theta:0.000000 turn:155 encoder: 14480 , brightness: 172 557 x1:39 y1:0 x2:62 y2:40 slope:1.739130 theta:0.000000 turn:155 encoder: 14508 , brightness: 172 558 x1:39 y1:0 x2:59 y2:40 slope:2.000000 theta:0.037149 turn:153 encoder: 14538 , brightness: 172 559 x1:39 y1:0 x2:60 y2:40 slope:1.904762 theta:0.017349 turn:154 encoder: 14567 , brightness: 172 560 x1:39 y1:0 x2:60 y2:40 slope:1.904762 theta:0.017349 turn:154 encoder: 14595 , brightness: 172 561 x1:39 y1:0 x2:62 y2:40 slope:1.739130 theta:0.000000 turn:155 encoder: 14623 , brightness: 173 562 x1:39 y1:0 x2:64 y2:40 slope:1.600000 theta:0.000000 turn:155 encoder: 14650 , brightness: 173 563 x1:39 y1:0 x2:65 y2:40 slope:1.538462 theta:0.000000 turn:160 encoder: 14678 , brightness: 173 564 x1:39 y1:0 x2:60 y2:40 slope:1.904762 theta:0.017349 turn:154 encoder: 14708 , brightness: 174 565 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 14740 , brightness: 175 566 x1:39 y1:0 x2:62 y2:40 slope:1.739130 theta:0.000000 turn:155 encoder: 14768 , brightness: 175 567 x1:39 y1:0 x2:70 y2:40 slope:1.290323 theta:0.000000 turn:155 encoder: 14794 , brightness: 176 568 x1:39 y1:0 x2:74 y2:40 slope:1.142857 theta:0.000000 turn:160 encoder: 14818 , brightness: 175 569 x1:39 y1:0 x2:75 y2:40 slope:1.111111 theta:0.000000 turn:165 encoder: 14844 , brightness: 174 570 x1:39 y1:0 x2:75 y2:40 slope:1.111111 theta:0.000000 turn:165 encoder: 14872 , brightness: 173 571 x1:39 y1:0 x2:72 y2:40 slope:1.212121 theta:0.000000 turn:165 encoder: 14895 , brightness: 173 572 x1:39 y1:0 x2:67 y2:40 slope:1.428571 theta:0.000000 turn:165 encoder: 14918 , brightness: 173 573 x1:39 y1:0 x2:60 y2:40 slope:1.904762 theta:0.017349 turn:154 encoder: 14941 , brightness: 173 574 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 14963 , brightness: 173 575 x1:39 y1:0 x2:51 y2:40 slope:3.333333 theta:0.209340 turn:146 encoder: 14984 , brightness: 174 576 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 15004 , brightness: 173 577 x1:39 y1:0 x2:57 y2:40 slope:2.222222 theta:0.077942 turn:151 encoder: 15027 , brightness: 174 578 x1:39 y1:0 x2:62 y2:40 slope:1.739130 theta:0.000000 turn:155 encoder: 15048 , brightness: 174 579 x1:39 y1:0 x2:68 y2:40 slope:1.379310 theta:0.000000 turn:155 encoder: 15071 , brightness: 174 580 x1:39 y1:0 x2:70 y2:40 slope:1.290323 theta:0.000000 turn:160 encoder: 15096 , brightness: 173 581 x1:39 y1:0 x2:72 y2:40 slope:1.212121 theta:0.000000 turn:165 encoder: 15117 , brightness: 174 582 x1:39 y1:0 x2:71 y2:40 slope:1.250000 theta:0.000000 turn:165 encoder: 15140 , brightness: 174 583 x1:39 y1:0 x2:69 y2:40 slope:1.333333 theta:0.000000 turn:165 encoder: 15161 , brightness: 174 584 x1:39 y1:0 x2:63 y2:40 slope:1.666667 theta:0.000000 turn:165 encoder: 15176 , brightness: 174 585 x1:39 y1:0 x2:58 y2:40 slope:2.105263 theta:0.057348 turn:152 encoder: 15193 , brightness: 174 586 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 15206 , brightness: 174 587 x1:39 y1:0 x2:50 y2:40 slope:3.636364 theta:0.232430 turn:145 encoder: 15221 , brightness: 174 588 x1:39 y1:0 x2:48 y2:40 slope:4.444444 theta:0.279482 turn:143 encoder: 15236 , brightness: 174 589 x1:39 y1:0 x2:48 y2:40 slope:4.444444 theta:0.279482 turn:143 encoder: 15251 , brightness: 174 590 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 15269 , brightness: 174 591 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 15284 , brightness: 174 592 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 15299 , brightness: 174 593 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 15314 , brightness: 174 594 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 15331 , brightness: 174 595 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 15348 , brightness: 175 596 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 15364 , brightness: 174 597 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 15383 , brightness: 174 598 x1:39 y1:0 x2:47 y2:40 slope:5.000000 theta:0.303401 turn:142 encoder: 15401 , brightness: 174 599 x1:39 y1:0 x2:47 y2:40 slope:5.000000 theta:0.303401 turn:142 encoder: 15415 , brightness: 174 600 x1:39 y1:0 x2:47 y2:40 slope:5.000000 theta:0.303401 turn:142 encoder: 15430 , brightness: 174 601 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 15449 , brightness: 174 602 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 15463 , brightness: 173 603 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 15478 , brightness: 173 604 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 15496 , brightness: 173 605 x1:39 y1:0 x2:47 y2:40 slope:5.000000 theta:0.303401 turn:142 encoder: 15513 , brightness: 174 606 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 15530 , brightness: 174 607 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 15545 , brightness: 174 608 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 15560 , brightness: 173 609 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:138 encoder: 15580 , brightness: 173 610 x1:39 y1:0 x2:41 y2:40 slope:20.000000 theta:0.450838 turn:136 encoder: 15596 , brightness: 174 611 x1:39 y1:0 x2:39 y2:40 slope:0.000000 theta:0.500796 turn:134 encoder: 15614 , brightness: 174 612 x1:39 y1:0 x2:37 y2:40 slope:-20.000000 theta:0.550755 turn:132 encoder: 15628 , brightness: 174 613 x1:39 y1:0 x2:36 y2:40 slope:-13.333333 theta:0.575656 turn:131 encoder: 15644 , brightness: 173 614 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 15659 , brightness: 174 615 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 15675 , brightness: 174 616 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 15693 , brightness: 174 617 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 15712 , brightness: 174 618 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 15734 , brightness: 174 619 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 15756 , brightness: 175 620 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 15785 , brightness: 175 621 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 15815 , brightness: 175 622 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 15843 , brightness: 175 623 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 15877 , brightness: 175 624 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 15908 , brightness: 175 625 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 15933 , brightness: 175 626 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 15961 , brightness: 175 627 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 15985 , brightness: 175 628 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 16010 , brightness: 175 629 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 16035 , brightness: 175 630 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 16064 , brightness: 176 631 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 16095 , brightness: 176 632 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 16119 , brightness: 176 633 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 16152 , brightness: 177 634 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 16184 , brightness: 178 635 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 16211 , brightness: 177 636 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 16246 , brightness: 176 637 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 16282 , brightness: 176 638 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 16314 , brightness: 176 639 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 16352 , brightness: 176 640 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 16388 , brightness: 176 641 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 16418 , brightness: 176 642 x1:39 y1:0 x2:36 y2:40 slope:-13.333333 theta:0.575656 turn:131 encoder: 16448 , brightness: 176 643 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 16480 , brightness: 177 644 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 16517 , brightness: 177 645 x1:39 y1:0 x2:49 y2:40 slope:4.000000 theta:0.255818 turn:144 encoder: 16562 , brightness: 178 646 x1:39 y1:0 x2:48 y2:40 slope:4.444444 theta:0.279482 turn:143 encoder: 16616 , brightness: 179 647 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:138 encoder: 16664 , brightness: 179 648 x1:39 y1:0 x2:38 y2:40 slope:-40.000000 theta:0.525791 turn:134 encoder: 16709 , brightness: 179 649 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 16749 , brightness: 179 650 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 16786 , brightness: 179 651 x1:39 y1:0 x2:38 y2:40 slope:-40.000000 theta:0.525791 turn:133 encoder: 16821 , brightness: 179 652 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:138 encoder: 16855 , brightness: 181 653 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 16894 , brightness: 181 654 x1:39 y1:0 x2:61 y2:40 slope:1.818182 theta:0.000000 turn:155 encoder: 16936 , brightness: 181 655 x1:39 y1:0 x2:56 y2:40 slope:2.352941 theta:0.098926 turn:151 encoder: 16978 , brightness: 181 44 19 40 19 47 19 656 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 17019 , brightness: 181 25 19 23 19 27 19 657 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 17059 , brightness: 181 18 19 15 19 12 39 658 x1:39 y1:0 x2:18 y2:40 slope:-1.904762 theta:0.984243 turn:115 encoder: 17094 , brightness: 181 24 19 21 19 26 19 659 x1:39 y1:0 x2:24 y2:40 slope:-2.666667 theta:0.859567 turn:120 encoder: 17129 , brightness: 182 43 19 40 19 46 19 660 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:136 encoder: 17164 , brightness: 182 68 19 67 19 69 19 661 x1:39 y1:0 x2:68 y2:40 slope:1.379310 theta:0.000000 turn:155 encoder: 17202 , brightness: 182 662 Too few accurate pixels at bottom of image encoder: 17240 , brightness: 182 663 Too few accurate pixels at bottom of image encoder: 17267 , brightness: 182 60 19 60 51 66 19 664 x1:39 y1:0 x2:60 y2:40 slope:1.904762 theta:0.017349 turn:154 encoder: 17303 , brightness: 182 29 19 25 19 33 19 665 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:130 encoder: 17328 , brightness: 182 11 19 7 19 14 19 666 x1:39 y1:0 x2:11 y2:40 slope:-1.428571 theta:1.000000 turn:115 encoder: 17346 , brightness: 180 5 19 3 19 8 19 667 x1:39 y1:0 x2:5 y2:40 slope:-1.176471 theta:1.000000 turn:115 encoder: 17362 , brightness: 180 8 19 5 19 10 19 668 x1:39 y1:0 x2:8 y2:40 slope:-1.290323 theta:1.000000 turn:105 encoder: 17378 , brightness: 180 9 19 6 19 10 45 669 x1:39 y1:0 x2:9 y2:40 slope:-1.333333 theta:1.000000 turn:110 encoder: 17395 , brightness: 180 16 19 12 19 20 19 670 x1:39 y1:0 x2:16 y2:40 slope:-1.739130 theta:1.000000 turn:110 encoder: 17409 , brightness: 180 24 19 20 19 27 19 671 x1:39 y1:0 x2:24 y2:40 slope:-2.666667 theta:0.859567 turn:120 encoder: 17422 , brightness: 180 30 19 26 19 33 19 672 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 17431 , brightness: 177 34 19 30 19 37 19 673 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 17443 , brightness: 177 37 19 33 19 40 19 674 x1:39 y1:0 x2:37 y2:40 slope:-20.000000 theta:0.550755 turn:132 encoder: 17461 , brightness: 177 42 19 38 19 45 19 675 x1:39 y1:0 x2:42 y2:40 slope:13.333333 theta:0.425936 turn:136 encoder: 17480 , brightness: 177 45 19 41 19 48 19 676 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 17503 , brightness: 177 45 19 41 19 48 19 677 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 17522 , brightness: 176 44 19 40 19 47 19 678 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 17540 , brightness: 176 42 19 38 19 45 19 679 x1:39 y1:0 x2:42 y2:40 slope:13.333333 theta:0.425936 turn:137 encoder: 17555 , brightness: 176 40 19 36 19 43 19 680 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 17568 , brightness: 176 38 19 34 19 41 19 681 x1:39 y1:0 x2:38 y2:40 slope:-40.000000 theta:0.525791 turn:133 encoder: 17582 , brightness: 176 36 19 32 19 39 19 682 x1:39 y1:0 x2:36 y2:40 slope:-13.333333 theta:0.575656 turn:131 encoder: 17599 , brightness: 176 35 19 31 19 38 19 683 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 17615 , brightness: 176 35 19 31 19 38 19 684 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 17633 , brightness: 176 35 19 31 19 38 19 685 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 17648 , brightness: 176 35 19 31 19 38 19 686 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 17662 , brightness: 176 35 19 31 19 38 19 687 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 17677 , brightness: 176 35 19 31 19 38 19 688 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 17699 , brightness: 176 36 19 32 19 39 19 689 x1:39 y1:0 x2:36 y2:40 slope:-13.333333 theta:0.575656 turn:131 encoder: 17718 , brightness: 176 36 19 32 19 39 19 690 x1:39 y1:0 x2:36 y2:40 slope:-13.333333 theta:0.575656 turn:131 encoder: 17736 , brightness: 176 34 19 30 19 37 19 691 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 17753 , brightness: 176 34 19 30 19 37 19 692 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 17766 , brightness: 175 34 19 30 19 37 19 693 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 17785 , brightness: 175 33 19 29 19 36 19 694 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 17804 , brightness: 175 33 19 29 19 36 19 695 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 17822 , brightness: 175 33 19 29 19 36 19 696 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 17840 , brightness: 175 34 19 30 19 37 19 697 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 17860 , brightness: 175 35 19 31 19 38 19 698 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 17878 , brightness: 175 34 19 30 19 38 19 699 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 17896 , brightness: 175 33 19 29 19 36 19 700 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 17913 , brightness: 175 33 19 29 19 36 19 701 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 17931 , brightness: 175 33 19 29 19 36 19 702 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 17945 , brightness: 175 33 19 28 19 37 19 703 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 17958 , brightness: 175 33 19 28 19 38 19 704 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 17975 , brightness: 175 35 19 29 19 41 19 705 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 17991 , brightness: 175 37 19 29 19 44 19 706 x1:39 y1:0 x2:37 y2:40 slope:-20.000000 theta:0.550755 turn:132 encoder: 18008 , brightness: 175 39 19 30 19 47 19 707 x1:39 y1:0 x2:39 y2:40 slope:0.000000 theta:0.500796 turn:134 encoder: 18021 , brightness: 175 40 19 29 19 51 19 Decided on right 708 x1:39 y1:0 x2:51 y2:40 slope:3.333333 theta:0.209340 turn:140 encoder: 18036 , brightness: 175 42 19 28 19 55 19 Decided on right 709 x1:39 y1:0 x2:55 y2:40 slope:2.500000 theta:0.120290 turn:150 encoder: 18054 , brightness: 175 42 19 26 19 59 19 Decided on right 710 x1:39 y1:0 x2:59 y2:40 slope:2.000000 theta:0.037149 turn:153 encoder: 18070 , brightness: 175 40 19 22 19 59 19 Decided on right 711 x1:39 y1:0 x2:59 y2:40 slope:2.000000 theta:0.037149 turn:153 encoder: 18084 , brightness: 175 37 19 16 19 59 19 Decided on right 712 x1:39 y1:0 x2:59 y2:40 slope:2.000000 theta:0.037149 turn:153 encoder: 18098 , brightness: 175 40 19 13 19 58 19 Decided on right 713 x1:39 y1:0 x2:58 y2:40 slope:2.105263 theta:0.057348 turn:152 encoder: 18113 , brightness: 175 52 33 46 46 56 19 714 x1:39 y1:0 x2:52 y2:26 slope:2.000000 theta:0.037149 turn:153 encoder: 18129 , brightness: 175 52 19 48 19 55 19 715 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 18155 , brightness: 175 49 19 45 19 52 19 716 x1:39 y1:0 x2:49 y2:40 slope:4.000000 theta:0.255818 turn:144 encoder: 18175 , brightness: 175 45 19 41 19 48 19 717 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 18194 , brightness: 175 45 19 41 19 48 19 718 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 18211 , brightness: 175 46 19 42 19 49 19 719 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 18228 , brightness: 175 48 19 44 19 51 19 720 x1:39 y1:0 x2:48 y2:40 slope:4.444444 theta:0.279482 turn:143 encoder: 18245 , brightness: 175 50 19 46 19 53 19 721 x1:39 y1:0 x2:50 y2:40 slope:3.636364 theta:0.232430 turn:145 encoder: 18267 , brightness: 175 55 19 51 19 58 19 722 x1:39 y1:0 x2:55 y2:40 slope:2.500000 theta:0.120290 turn:150 encoder: 18288 , brightness: 175 58 19 54 19 61 19 723 x1:39 y1:0 x2:58 y2:40 slope:2.105263 theta:0.057348 turn:152 encoder: 18306 , brightness: 175 59 19 56 19 62 19 724 x1:39 y1:0 x2:59 y2:40 slope:2.000000 theta:0.037149 turn:153 encoder: 18323 , brightness: 175 58 19 54 19 61 19 725 x1:39 y1:0 x2:58 y2:40 slope:2.105263 theta:0.057348 turn:152 encoder: 18339 , brightness: 175 54 19 50 19 57 19 726 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 18358 , brightness: 176 50 19 46 19 53 19 727 x1:39 y1:0 x2:50 y2:40 slope:3.636364 theta:0.232430 turn:145 encoder: 18372 , brightness: 175 49 19 45 19 52 19 728 x1:39 y1:0 x2:49 y2:40 slope:4.000000 theta:0.255818 turn:144 encoder: 18386 , brightness: 176 47 19 43 19 50 19 729 x1:39 y1:0 x2:47 y2:40 slope:5.000000 theta:0.303401 turn:142 encoder: 18399 , brightness: 175 46 19 42 19 40 36 730 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 18420 , brightness: 176 48 19 44 19 51 19 731 x1:39 y1:0 x2:48 y2:40 slope:4.444444 theta:0.279482 turn:143 encoder: 18439 , brightness: 176 50 19 46 19 53 19 732 x1:39 y1:0 x2:50 y2:40 slope:3.636364 theta:0.232430 turn:145 encoder: 18456 , brightness: 176 52 19 48 19 55 19 733 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 18473 , brightness: 176 52 19 48 19 55 19 734 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 18488 , brightness: 176 53 19 49 19 56 19 735 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 18506 , brightness: 176 54 19 51 19 57 19 736 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 18520 , brightness: 176 55 19 52 19 58 19 737 x1:39 y1:0 x2:55 y2:40 slope:2.500000 theta:0.120290 turn:150 encoder: 18535 , brightness: 176 55 19 52 19 58 19 738 x1:39 y1:0 x2:55 y2:40 slope:2.500000 theta:0.120290 turn:150 encoder: 18554 , brightness: 176 55 19 52 19 57 19 739 x1:39 y1:0 x2:55 y2:40 slope:2.500000 theta:0.120290 turn:150 encoder: 18574 , brightness: 176 42 19 48 19 52 19 740 x1:39 y1:0 x2:42 y2:40 slope:13.333333 theta:0.425936 turn:137 encoder: 18589 , brightness: 176 44 19 46 19 51 19 741 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 18605 , brightness: 177 52 19 46 23 55 19 742 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 18623 , brightness: 177 52 19 49 19 55 19 743 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 18639 , brightness: 177 53 19 49 19 56 19 744 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 18654 , brightness: 177 52 19 48 19 55 19 745 x1:39 y1:0 x2:52 y2:40 slope:3.076923 theta:0.186564 turn:147 encoder: 18671 , brightness: 178 51 19 47 19 54 19 746 x1:39 y1:0 x2:51 y2:40 slope:3.333333 theta:0.209340 turn:146 encoder: 18685 , brightness: 178 50 19 46 19 53 19 747 x1:39 y1:0 x2:50 y2:40 slope:3.636364 theta:0.232430 turn:145 encoder: 18700 , brightness: 179 47 19 43 19 50 19 748 x1:39 y1:0 x2:47 y2:40 slope:5.000000 theta:0.303401 turn:142 encoder: 18717 , brightness: 178 45 19 41 19 48 19 749 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 18735 , brightness: 178 44 19 40 19 47 19 750 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 18749 , brightness: 177 42 19 38 19 46 19 751 x1:39 y1:0 x2:42 y2:40 slope:13.333333 theta:0.425936 turn:137 encoder: 18765 , brightness: 177 41 19 37 19 45 19 752 x1:39 y1:0 x2:41 y2:40 slope:20.000000 theta:0.450838 turn:136 encoder: 18782 , brightness: 177 40 19 36 19 44 19 753 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 18796 , brightness: 177 40 19 35 19 44 19 754 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 18814 , brightness: 176 40 19 34 19 45 19 755 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 18832 , brightness: 176 40 19 33 19 46 19 756 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 18851 , brightness: 177 39 19 30 19 49 19 Decided on left 757 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 18873 , brightness: 177 37 19 26 19 51 19 Decided on left 758 x1:39 y1:0 x2:26 y2:40 slope:-3.076923 theta:0.815028 turn:122 encoder: 18888 , brightness: 177 38 19 24 19 56 19 Decided on left 759 x1:39 y1:0 x2:24 y2:40 slope:-2.666667 theta:0.859567 turn:120 encoder: 18908 , brightness: 177 38 19 22 19 62 19 Decided on left 760 x1:39 y1:0 x2:22 y2:40 slope:-2.352941 theta:0.902667 turn:118 encoder: 18926 , brightness: 177 36 19 20 19 52 48 761 x1:39 y1:0 x2:20 y2:40 slope:-2.105263 theta:0.944245 turn:117 encoder: 18947 , brightness: 177 21 19 15 19 22 19 762 x1:39 y1:0 x2:15 y2:40 slope:-1.666667 theta:1.000000 turn:115 encoder: 18965 , brightness: 176 15 19 24 19 18 19 763 x1:39 y1:0 x2:15 y2:40 slope:-1.666667 theta:1.000000 turn:115 encoder: 18981 , brightness: 177 13 19 20 20 16 19 764 x1:39 y1:0 x2:13 y2:40 slope:-1.538462 theta:1.000000 turn:105 encoder: 18995 , brightness: 177 11 19 7 19 14 19 765 x1:39 y1:0 x2:11 y2:40 slope:-1.428571 theta:1.000000 turn:110 encoder: 19013 , brightness: 177 14 19 24 19 17 19 766 x1:39 y1:0 x2:14 y2:40 slope:-1.600000 theta:1.000000 turn:110 encoder: 19029 , brightness: 176 16 19 23 19 19 19 767 x1:39 y1:0 x2:16 y2:40 slope:-1.739130 theta:1.000000 turn:110 encoder: 19047 , brightness: 176 20 19 26 19 23 19 768 x1:39 y1:0 x2:20 y2:40 slope:-2.105263 theta:0.944245 turn:117 encoder: 19065 , brightness: 176 27 19 28 19 27 19 769 x1:39 y1:0 x2:27 y2:40 slope:-3.333333 theta:0.792253 turn:123 encoder: 19077 , brightness: 177 30 19 24 19 33 19 770 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 19095 , brightness: 177 34 24 32 19 39 24 771 x1:39 y1:0 x2:34 y2:35 slope:-7.000000 theta:0.642693 turn:129 encoder: 19110 , brightness: 176 36 32 25 19 42 32 772 x1:39 y1:0 x2:36 y2:27 slope:-9.000000 theta:0.611454 turn:130 encoder: 19123 , brightness: 176 40 40 6 19 43 41 773 x1:39 y1:0 x2:40 y2:19 slope:19.000000 theta:0.448213 turn:136 encoder: 19139 , brightness: 177 18 25 17 27 24 25 774 x1:39 y1:0 x2:18 y2:34 slope:-1.619048 theta:1.000000 turn:115 encoder: 19153 , brightness: 176 -1 19 23 46 46 46 Decided on left 775 x1:39 y1:0 x2:23 y2:13 slope:-0.812500 theta:1.000000 turn:115 encoder: 19167 , brightness: 177 776 Couldn't follow the line high enough encoder: 19181 , brightness: 177 -1 19 12 39 14 39 Decided on left 777 x1:39 y1:0 x2:12 y2:20 slope:-0.740741 theta:1.000000 turn:110 encoder: 19197 , brightness: 177 778 Too few accurate pixels at bottom of image encoder: 19210 , brightness: 176 8 19 6 19 9 19 779 x1:39 y1:0 x2:6 y2:40 slope:-1.212121 theta:1.000000 turn:110 encoder: 19224 , brightness: 176 13 19 11 19 14 19 780 x1:39 y1:0 x2:11 y2:40 slope:-1.428571 theta:1.000000 turn:110 encoder: 19240 , brightness: 176 21 19 18 19 24 19 781 x1:39 y1:0 x2:18 y2:40 slope:-1.904762 theta:0.984243 turn:110 encoder: 19252 , brightness: 176 31 19 9 38 33 19 782 x1:39 y1:0 x2:9 y2:21 slope:-0.700000 theta:1.000000 turn:110 encoder: 19266 , brightness: 176 38 19 35 19 40 19 783 x1:39 y1:0 x2:38 y2:40 slope:-40.000000 theta:0.525791 turn:133 encoder: 19280 , brightness: 176 48 19 27 40 51 19 784 x1:39 y1:0 x2:48 y2:40 slope:4.444444 theta:0.279482 turn:139 encoder: 19291 , brightness: 176 54 19 50 19 57 19 785 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 19301 , brightness: 176 56 19 53 19 58 19 786 x1:39 y1:0 x2:56 y2:40 slope:2.352941 theta:0.098926 turn:151 encoder: 19316 , brightness: 176 58 19 56 19 59 19 787 x1:39 y1:0 x2:58 y2:40 slope:2.105263 theta:0.057348 turn:152 encoder: 19329 , brightness: 176 60 19 59 19 61 19 788 x1:39 y1:0 x2:60 y2:40 slope:1.904762 theta:0.017349 turn:154 encoder: 19341 , brightness: 176 61 19 61 19 66 19 789 x1:39 y1:0 x2:61 y2:40 slope:1.818182 theta:0.000000 turn:155 encoder: 19358 , brightness: 176 70 19 64 19 70 19 790 x1:39 y1:0 x2:70 y2:40 slope:1.290323 theta:0.000000 turn:155 encoder: 19372 , brightness: 176 66 19 64 19 67 19 791 x1:39 y1:0 x2:66 y2:40 slope:1.481481 theta:0.000000 turn:160 encoder: 19390 , brightness: 177 70 19 68 19 69 19 792 x1:39 y1:0 x2:70 y2:40 slope:1.290323 theta:0.000000 turn:165 encoder: 19403 , brightness: 177 67 19 64 19 69 19 793 x1:39 y1:0 x2:67 y2:40 slope:1.428571 theta:0.000000 turn:165 encoder: 19414 , brightness: 177 64 20 60 20 66 19 794 x1:39 y1:0 x2:64 y2:39 slope:1.560000 theta:0.000000 turn:165 encoder: 19427 , brightness: 177 58 24 54 24 62 19 795 x1:39 y1:0 x2:58 y2:35 slope:1.842105 theta:0.003454 turn:154 encoder: 19442 , brightness: 176 55 28 50 28 57 19 796 x1:39 y1:0 x2:55 y2:31 slope:1.937500 theta:0.024329 turn:154 encoder: 19458 , brightness: 177 54 29 48 29 62 19 797 x1:39 y1:0 x2:54 y2:30 slope:2.000000 theta:0.037149 turn:153 encoder: 19470 , brightness: 177 52 33 47 33 64 19 798 x1:39 y1:0 x2:52 y2:26 slope:2.000000 theta:0.037149 turn:153 encoder: 19481 , brightness: 177 69 19 45 41 69 19 799 x1:39 y1:0 x2:69 y2:40 slope:1.333333 theta:0.000000 turn:155 encoder: 19494 , brightness: 177 72 19 72 51 50 45 800 x1:39 y1:0 x2:72 y2:40 slope:1.212121 theta:0.000000 turn:155 encoder: 19510 , brightness: 177 70 19 67 19 54 39 801 x1:39 y1:0 x2:70 y2:40 slope:1.290323 theta:0.000000 turn:160 encoder: 19525 , brightness: 177 74 19 37 48 67 27 802 x1:39 y1:0 x2:74 y2:40 slope:1.142857 theta:0.000000 turn:165 encoder: 19540 , brightness: 178 74 19 56 36 74 19 803 x1:39 y1:0 x2:74 y2:40 slope:1.142857 theta:0.000000 turn:165 encoder: 19553 , brightness: 178 804 Couldn't follow the line high enough encoder: 19564 , brightness: 178 73 24 50 47 61 45 Decided on right 805 x1:39 y1:0 x2:61 y2:14 slope:0.636364 theta:0.000000 turn:165 encoder: 19573 , brightness: 178 66 27 65 27 66 27 806 x1:39 y1:0 x2:66 y2:32 slope:1.185185 theta:0.000000 turn:165 encoder: 19583 , brightness: 178 66 29 63 29 61 41 807 x1:39 y1:0 x2:61 y2:18 slope:0.818182 theta:0.000000 turn:165 encoder: 19593 , brightness: 179 808 Couldn't follow the line high enough encoder: 19602 , brightness: 179 60 28 61 30 72 19 809 x1:39 y1:0 x2:72 y2:40 slope:1.212121 theta:0.000000 turn:165 encoder: 19609 , brightness: 179 69 19 67 19 71 19 810 x1:39 y1:0 x2:71 y2:40 slope:1.250000 theta:0.000000 turn:165 encoder: 19620 , brightness: 179 66 19 64 19 68 19 811 x1:39 y1:0 x2:68 y2:40 slope:1.379310 theta:0.000000 turn:165 encoder: 19632 , brightness: 180 66 19 56 19 73 19 812 x1:39 y1:0 x2:66 y2:40 slope:1.481481 theta:0.000000 turn:165 encoder: 19645 , brightness: 180 62 19 50 19 65 19 813 x1:39 y1:0 x2:62 y2:40 slope:1.739130 theta:0.000000 turn:165 encoder: 19656 , brightness: 180 814 Couldn't follow the line high enough encoder: 19667 , brightness: 180 54 19 36 26 74 19 815 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 19676 , brightness: 180 54 19 29 33 48 45 816 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 19686 , brightness: 180 44 19 34 19 72 19 Decided on right 817 x1:39 y1:0 x2:72 y2:40 slope:1.212121 theta:0.000000 turn:155 encoder: 19696 , brightness: 180 818 Too few accurate pixels at bottom of image encoder: 19708 , brightness: 179 26 19 23 19 74 19 819 x1:39 y1:0 x2:74 y2:40 slope:1.142857 theta:0.000000 turn:160 encoder: 19722 , brightness: 180 42 27 20 19 75 19 Decided on right 820 x1:39 y1:0 x2:75 y2:40 slope:1.111111 theta:0.000000 turn:165 encoder: 19733 , brightness: 179 821 Couldn't follow the line high enough encoder: 19742 , brightness: 179 50 29 49 48 75 25 822 x1:39 y1:0 x2:75 y2:34 slope:0.944444 theta:0.000000 turn:165 encoder: 19747 , brightness: 179 60 32 67 34 72 27 823 x1:39 y1:0 x2:72 y2:32 slope:0.969697 theta:0.000000 turn:165 encoder: 19754 , brightness: 178 73 28 71 28 69 31 824 x1:39 y1:0 x2:69 y2:28 slope:0.933333 theta:0.000000 turn:165 encoder: 19763 , brightness: 178 72 27 71 27 73 27 825 x1:39 y1:0 x2:72 y2:32 slope:0.969697 theta:0.000000 turn:165 encoder: 19774 , brightness: 178 78 20 74 24 78 20 826 x1:39 y1:0 x2:78 y2:39 slope:1.000000 theta:0.000000 turn:165 encoder: 19787 , brightness: 178 76 24 74 24 69 30 827 x1:39 y1:0 x2:76 y2:35 slope:0.945946 theta:0.000000 turn:165 encoder: 19798 , brightness: 178 74 26 69 28 74 26 828 x1:39 y1:0 x2:74 y2:33 slope:0.942857 theta:0.000000 turn:165 encoder: 19809 , brightness: 178 69 29 67 30 74 31 829 x1:39 y1:0 x2:69 y2:30 slope:1.000000 theta:0.000000 turn:165 encoder: 19818 , brightness: 178 69 30 68 30 69 30 830 x1:39 y1:0 x2:69 y2:29 slope:0.966667 theta:0.000000 turn:165 encoder: 19828 , brightness: 178 69 30 67 31 74 32 831 x1:39 y1:0 x2:69 y2:29 slope:0.966667 theta:0.000000 turn:165 encoder: 19843 , brightness: 178 68 31 67 31 74 33 832 x1:39 y1:0 x2:68 y2:28 slope:0.965517 theta:0.000000 turn:165 encoder: 19860 , brightness: 178 69 31 67 31 76 33 833 x1:39 y1:0 x2:69 y2:28 slope:0.933333 theta:0.000000 turn:165 encoder: 19876 , brightness: 178 69 30 68 30 73 32 834 x1:39 y1:0 x2:69 y2:29 slope:0.966667 theta:0.000000 turn:165 encoder: 19890 , brightness: 178 69 30 68 30 73 31 835 x1:39 y1:0 x2:69 y2:29 slope:0.966667 theta:0.000000 turn:165 encoder: 19905 , brightness: 178 70 29 68 30 70 29 836 x1:39 y1:0 x2:70 y2:30 slope:0.967742 theta:0.000000 turn:165 encoder: 19921 , brightness: 178 69 30 68 30 66 42 837 x1:39 y1:0 x2:69 y2:29 slope:0.966667 theta:0.000000 turn:165 encoder: 19934 , brightness: 178 69 30 68 30 66 42 838 x1:39 y1:0 x2:69 y2:29 slope:0.966667 theta:0.000000 turn:165 encoder: 19949 , brightness: 178 69 30 68 30 74 31 839 x1:39 y1:0 x2:69 y2:29 slope:0.966667 theta:0.000000 turn:165 encoder: 19965 , brightness: 178 69 30 68 30 74 31 840 x1:39 y1:0 x2:69 y2:29 slope:0.966667 theta:0.000000 turn:165 encoder: 19981 , brightness: 178 71 29 69 30 71 29 841 x1:39 y1:0 x2:71 y2:30 slope:0.937500 theta:0.000000 turn:165 encoder: 19997 , brightness: 178 71 29 68 30 75 31 842 x1:39 y1:0 x2:71 y2:30 slope:0.937500 theta:0.000000 turn:165 encoder: 20013 , brightness: 178 69 30 68 30 70 30 843 x1:39 y1:0 x2:69 y2:29 slope:0.966667 theta:0.000000 turn:165 encoder: 20028 , brightness: 178 70 30 69 30 70 30 844 x1:39 y1:0 x2:70 y2:29 slope:0.935484 theta:0.000000 turn:165 encoder: 20044 , brightness: 178 70 30 69 30 71 30 845 x1:39 y1:0 x2:70 y2:29 slope:0.935484 theta:0.000000 turn:165 encoder: 20061 , brightness: 178 71 29 68 30 71 29 846 x1:39 y1:0 x2:71 y2:30 slope:0.937500 theta:0.000000 turn:165 encoder: 20077 , brightness: 178 70 30 69 30 76 32 847 x1:39 y1:0 x2:70 y2:29 slope:0.935484 theta:0.000000 turn:165 encoder: 20083 , brightness: 178 70 30 69 31 70 30 848 x1:39 y1:0 x2:70 y2:29 slope:0.935484 theta:0.000000 turn:165 encoder: 20084 , brightness: 179 68 31 67 31 75 33 849 x1:39 y1:0 x2:68 y2:28 slope:0.965517 theta:0.000000 turn:165 encoder: 20086 , brightness: 179 68 29 67 32 76 34 850 x1:39 y1:0 x2:68 y2:30 slope:1.034483 theta:0.000000 turn:165 encoder: 20087 , brightness: 179 67 29 67 33 67 29 851 x1:39 y1:0 x2:67 y2:30 slope:1.071429 theta:0.000000 turn:165 encoder: 20090 , brightness: 179 66 31 67 33 72 33 852 x1:39 y1:0 x2:66 y2:28 slope:1.037037 theta:0.000000 turn:165 encoder: 20095 , brightness: 179 68 31 63 34 68 31 853 x1:39 y1:0 x2:68 y2:28 slope:0.965517 theta:0.000000 turn:165 encoder: 20102 , brightness: 179 69 30 60 40 67 32 854 x1:39 y1:0 x2:69 y2:29 slope:0.966667 theta:0.000000 turn:165 encoder: 20112 , brightness: 179 66 33 66 51 66 33 855 x1:39 y1:0 x2:66 y2:26 slope:0.962963 theta:0.000000 turn:165 encoder: 20123 , brightness: 179 856 Too few accurate pixels at bottom of image encoder: 20131 , brightness: 179 857 Couldn't follow the line high enough encoder: 20143 , brightness: 179 858 Too few accurate pixels at bottom of image encoder: 20151 , brightness: 179 71 26 71 51 58 46 859 x1:39 y1:0 x2:71 y2:33 slope:1.031250 theta:0.000000 turn:165 encoder: 20160 , brightness: 179 64 29 64 30 59 49 860 x1:39 y1:0 x2:64 y2:30 slope:1.200000 theta:0.000000 turn:165 encoder: 20170 , brightness: 179 67 36 62 36 71 36 861 x1:39 y1:0 x2:67 y2:23 slope:0.821429 theta:0.000000 turn:165 encoder: 20181 , brightness: 179 57 42 52 46 65 22 862 x1:39 y1:0 x2:57 y2:17 slope:0.944444 theta:0.000000 turn:165 encoder: 20192 , brightness: 180 863 Couldn't follow the line high enough encoder: 20201 , brightness: 180 37 40 24 40 73 19 864 x1:39 y1:0 x2:37 y2:19 slope:-9.500000 theta:0.605673 turn:132 encoder: 20211 , brightness: 180 75 19 24 46 56 42 Decided on left 865 x1:39 y1:0 x2:24 y2:13 slope:-0.866667 theta:1.000000 turn:115 encoder: 20220 , brightness: 179 71 19 71 50 57 42 866 x1:39 y1:0 x2:71 y2:9 slope:0.281250 theta:0.000000 turn:155 encoder: 20229 , brightness: 179 77 22 49 43 77 22 867 x1:39 y1:0 x2:49 y2:16 slope:1.600000 theta:0.000000 turn:155 encoder: 20237 , brightness: 179 79 28 58 46 79 28 868 x1:39 y1:0 x2:58 y2:13 slope:0.684211 theta:0.000000 turn:155 encoder: 20249 , brightness: 179 79 33 79 51 79 33 869 x1:39 y1:0 x2:79 y2:8 slope:0.200000 theta:0.000000 turn:160 encoder: 20262 , brightness: 179 870 Too few accurate pixels at bottom of image encoder: 20272 , brightness: 179 871 Too few accurate pixels at bottom of image encoder: 20280 , brightness: 179 872 Too few accurate pixels at bottom of image encoder: 20286 , brightness: 180 873 Too few accurate pixels at bottom of image encoder: 20293 , brightness: 179 874 Too few accurate pixels at bottom of image encoder: 20299 , brightness: 180 875 Too few accurate pixels at bottom of image encoder: 20309 , brightness: 179 876 Too few accurate pixels at bottom of image encoder: 20314 , brightness: 180 877 Too few accurate pixels at bottom of image encoder: 20320 , brightness: 179 878 Too few accurate pixels at bottom of image encoder: 20326 , brightness: 180 879 Too few accurate pixels at bottom of image encoder: 20332 , brightness: 180 880 Too few accurate pixels at bottom of image encoder: 20340 , brightness: 179 881 Too few accurate pixels at bottom of image encoder: 20343 , brightness: 180 882 Too few accurate pixels at bottom of image encoder: 20350 , brightness: 179 883 Too few accurate pixels at bottom of image encoder: 20359 , brightness: 179 72 22 69 26 72 22 884 x1:39 y1:0 x2:69 y2:33 slope:1.100000 theta:0.000000 turn:165 encoder: 20364 , brightness: 179 70 22 65 26 68 19 885 x1:39 y1:0 x2:70 y2:37 slope:1.193548 theta:0.000000 turn:165 encoder: 20370 , brightness: 179 886 Too few accurate pixels at bottom of image encoder: 20375 , brightness: 179 58 19 56 19 58 19 887 x1:39 y1:0 x2:58 y2:40 slope:2.105263 theta:0.057348 turn:152 encoder: 20384 , brightness: 179 54 19 52 19 70 44 888 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 20391 , brightness: 179 889 Too few accurate pixels at bottom of image encoder: 20396 , brightness: 179 44 19 41 19 56 47 890 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 20404 , brightness: 180 38 19 36 19 48 19 891 x1:39 y1:0 x2:38 y2:40 slope:-40.000000 theta:0.525791 turn:134 encoder: 20410 , brightness: 179 34 19 32 19 46 19 892 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 encoder: 20418 , brightness: 179 32 19 30 19 33 19 893 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 20426 , brightness: 180 33 19 32 19 34 19 894 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 20432 , brightness: 179 32 19 30 19 42 20 895 x1:39 y1:0 x2:32 y2:40 slope:-5.714286 theta:0.674042 turn:128 encoder: 20440 , brightness: 179 30 19 27 19 33 19 896 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 20450 , brightness: 180 29 19 26 19 31 19 897 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 20459 , brightness: 179 29 19 38 24 41 21 Decided on left 898 x1:39 y1:0 x2:38 y2:35 slope:-35.000000 theta:0.529360 turn:133 encoder: 20470 , brightness: 179 28 19 25 19 31 19 899 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 20478 , brightness: 180 27 19 24 19 52 31 900 x1:39 y1:0 x2:24 y2:40 slope:-2.666667 theta:0.859567 turn:120 encoder: 20486 , brightness: 179 27 19 24 19 29 19 901 x1:39 y1:0 x2:24 y2:40 slope:-2.666667 theta:0.859567 turn:120 encoder: 20495 , brightness: 179 27 19 25 19 28 19 902 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 20504 , brightness: 180 903 Too few accurate pixels at bottom of image encoder: 20514 , brightness: 180 27 19 37 27 29 19 904 x1:39 y1:0 x2:37 y2:32 slope:-16.000000 theta:0.563215 turn:132 encoder: 20523 , brightness: 180 28 19 28 19 43 23 905 x1:39 y1:0 x2:28 y2:40 slope:-3.636364 theta:0.769163 turn:124 encoder: 20534 , brightness: 180 25 19 29 19 26 19 906 x1:39 y1:0 x2:25 y2:40 slope:-2.857143 theta:0.837471 turn:121 encoder: 20544 , brightness: 180 21 19 30 19 30 19 Decided on left 907 x1:39 y1:0 x2:30 y2:40 slope:-4.444444 theta:0.722111 turn:126 encoder: 20555 , brightness: 180 25 19 32 20 30 19 908 x1:39 y1:0 x2:32 y2:39 slope:-5.571429 theta:0.678392 turn:127 encoder: 20566 , brightness: 180 28 19 27 19 29 19 909 x1:39 y1:0 x2:27 y2:40 slope:-3.333333 theta:0.792253 turn:123 encoder: 20577 , brightness: 180 25 19 28 21 30 21 910 x1:39 y1:0 x2:28 y2:38 slope:-3.454545 theta:0.782568 turn:123 encoder: 20590 , brightness: 180 21 19 24 19 45 37 911 x1:39 y1:0 x2:24 y2:40 slope:-2.666667 theta:0.859567 turn:120 encoder: 20598 , brightness: 180 36 37 32 37 39 37 912 x1:39 y1:0 x2:32 y2:22 slope:-3.142857 theta:0.808849 turn:122 encoder: 20611 , brightness: 180 14 19 14 50 24 23 913 x1:39 y1:0 x2:14 y2:40 slope:-1.600000 theta:1.000000 turn:115 encoder: 20622 , brightness: 181 21 30 29 43 26 30 914 x1:39 y1:0 x2:21 y2:29 slope:-1.611111 theta:1.000000 turn:115 encoder: 20636 , brightness: 180 38 24 30 46 27 37 915 x1:39 y1:0 x2:38 y2:35 slope:-35.000000 theta:0.529360 turn:133 encoder: 20646 , brightness: 180 26 42 21 26 36 44 916 x1:39 y1:0 x2:26 y2:17 slope:-1.307692 theta:1.000000 turn:115 encoder: 20658 , brightness: 181 -1 19 -1 19 -1 51 917 x1:39 y1:0 x2:-1 y2:40 slope:-1.000000 theta:1.000000 turn:115 encoder: 20674 , brightness: 180 -1 19 23 44 48 46 Decided on left 918 x1:39 y1:0 x2:23 y2:15 slope:-0.937500 theta:1.000000 turn:105 encoder: 20688 , brightness: 181 -1 19 13 38 28 43 Decided on left 919 x1:39 y1:0 x2:13 y2:21 slope:-0.807692 theta:1.000000 turn:110 encoder: 20702 , brightness: 181 -1 19 -1 19 24 48 920 x1:39 y1:0 x2:-1 y2:40 slope:-1.000000 theta:1.000000 turn:110 encoder: 20718 , brightness: 181 1 19 0 19 2 19 921 x1:39 y1:0 x2:0 y2:40 slope:-1.025641 theta:1.000000 turn:110 encoder: 20733 , brightness: 181 5 26 -1 19 6 26 922 x1:39 y1:0 x2:-1 y2:40 slope:-1.000000 theta:1.000000 turn:110 encoder: 20748 , brightness: 181 10 35 1 19 12 35 923 x1:39 y1:0 x2:1 y2:40 slope:-1.052632 theta:1.000000 turn:110 encoder: 20763 , brightness: 182 12 26 2 19 5 19 924 x1:39 y1:0 x2:12 y2:33 slope:-1.222222 theta:1.000000 turn:110 encoder: 20775 , brightness: 182 8 19 11 45 15 30 925 x1:39 y1:0 x2:8 y2:40 slope:-1.290323 theta:1.000000 turn:110 encoder: 20790 , brightness: 183 12 19 4 24 13 19 926 x1:39 y1:0 x2:12 y2:40 slope:-1.481481 theta:1.000000 turn:110 encoder: 20804 , brightness: 183 16 19 13 19 18 19 927 x1:39 y1:0 x2:16 y2:40 slope:-1.739130 theta:1.000000 turn:110 encoder: 20818 , brightness: 183 22 19 13 43 25 19 928 x1:39 y1:0 x2:22 y2:40 slope:-2.352941 theta:0.902667 turn:118 encoder: 20830 , brightness: 182 28 19 25 19 30 19 929 x1:39 y1:0 x2:28 y2:40 slope:-3.636364 theta:0.769163 turn:124 encoder: 20842 , brightness: 182 31 19 28 19 34 19 930 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 20853 , brightness: 182 33 19 31 19 35 19 931 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 20865 , brightness: 181 35 19 34 19 36 19 932 x1:39 y1:0 x2:35 y2:40 slope:-10.000000 theta:0.600465 turn:130 encoder: 20879 , brightness: 181 37 19 35 19 38 19 933 x1:39 y1:0 x2:37 y2:40 slope:-20.000000 theta:0.550755 turn:132 encoder: 20896 , brightness: 181 49 24 39 19 42 19 934 x1:39 y1:0 x2:49 y2:35 slope:3.500000 theta:0.222497 turn:140 encoder: 20911 , brightness: 180 46 19 42 19 49 19 935 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 20925 , brightness: 181 936 Too few accurate pixels at bottom of image encoder: 20935 , brightness: 180 46 19 42 19 49 19 937 x1:39 y1:0 x2:46 y2:40 slope:5.714286 theta:0.327551 turn:141 encoder: 20951 , brightness: 180 44 19 40 19 47 19 938 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 20963 , brightness: 180 45 19 41 19 48 19 939 x1:39 y1:0 x2:45 y2:40 slope:6.666667 theta:0.351906 turn:140 encoder: 20983 , brightness: 181 51 33 40 19 47 19 940 x1:39 y1:0 x2:51 y2:26 slope:2.166667 theta:0.068389 turn:152 encoder: 20995 , brightness: 180 941 Too few accurate pixels at bottom of image encoder: 21012 , brightness: 180 36 19 34 19 37 19 942 x1:39 y1:0 x2:36 y2:40 slope:-13.333333 theta:0.575656 turn:133 encoder: 21026 , brightness: 181 31 19 28 19 33 19 943 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 21041 , brightness: 181 31 19 28 19 33 19 944 x1:39 y1:0 x2:31 y2:40 slope:-5.000000 theta:0.698192 turn:127 encoder: 21057 , brightness: 181 33 19 30 19 33 19 945 x1:39 y1:0 x2:33 y2:40 slope:-6.666667 theta:0.649686 turn:129 encoder: 21072 , brightness: 180 29 19 33 25 35 19 946 x1:39 y1:0 x2:29 y2:40 slope:-4.000000 theta:0.745775 turn:125 encoder: 21088 , brightness: 181 40 19 36 27 43 19 947 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 21103 , brightness: 181 46 41 41 41 50 41 948 x1:39 y1:0 x2:46 y2:18 slope:2.571429 theta:0.129905 turn:149 encoder: 21119 , brightness: 180 44 19 44 51 48 19 949 x1:39 y1:0 x2:44 y2:40 slope:8.000000 theta:0.376441 turn:139 encoder: 21137 , brightness: 181 43 19 18 39 47 19 950 x1:39 y1:0 x2:43 y2:40 slope:10.000000 theta:0.401128 turn:138 encoder: 21151 , brightness: 181 42 19 38 19 45 19 951 x1:39 y1:0 x2:42 y2:40 slope:13.333333 theta:0.425936 turn:137 encoder: 21168 , brightness: 181 39 19 36 19 41 19 952 x1:39 y1:0 x2:39 y2:40 slope:0.000000 theta:0.500796 turn:134 encoder: 21188 , brightness: 181 40 19 37 19 43 19 953 x1:39 y1:0 x2:40 y2:40 slope:40.000000 theta:0.475802 turn:135 encoder: 21206 , brightness: 181 38 19 35 19 41 19 954 x1:39 y1:0 x2:38 y2:40 slope:-40.000000 theta:0.525791 turn:133 encoder: 21223 , brightness: 181 38 19 34 19 42 19 955 x1:39 y1:0 x2:38 y2:40 slope:-40.000000 theta:0.525791 turn:133 encoder: 21242 , brightness: 181 36 19 31 19 40 19 956 x1:39 y1:0 x2:36 y2:40 slope:-13.333333 theta:0.575656 turn:131 encoder: 21258 , brightness: 181 36 19 29 19 45 19 957 x1:39 y1:0 x2:36 y2:40 slope:-13.333333 theta:0.575656 turn:131 encoder: 21272 , brightness: 181 36 19 28 19 45 19 958 x1:39 y1:0 x2:36 y2:40 slope:-13.333333 theta:0.575656 turn:131 encoder: 21286 , brightness: 181 36 19 24 19 47 19 Decided on right 959 x1:39 y1:0 x2:47 y2:40 slope:5.000000 theta:0.303401 turn:138 encoder: 21306 , brightness: 182 34 19 19 19 47 32 960 x1:39 y1:0 x2:47 y2:27 slope:3.375000 theta:0.212741 turn:146 encoder: 21320 , brightness: 182 961 Too few accurate pixels at bottom of image encoder: 21335 , brightness: 182 33 19 15 25 54 19 962 x1:39 y1:0 x2:54 y2:40 slope:2.666667 theta:0.142026 turn:149 encoder: 21349 , brightness: 182 42 20 4 20 53 19 Decided on right 963 x1:39 y1:0 x2:53 y2:40 slope:2.857143 theta:0.164122 turn:148 encoder: 21365 , brightness: 182 46 19 43 19 49 19 964 x1:39 y1:0 x2:49 y2:40 slope:4.000000 theta:0.255818 turn:144 encoder: 21382 , brightness: 183 40 19 38 19 41 19 965 x1:39 y1:0 x2:41 y2:40 slope:20.000000 theta:0.450838 turn:136 encoder: 21397 , brightness: 183 36 19 43 35 37 19 966 x1:39 y1:0 x2:36 y2:40 slope:-13.333333 theta:0.575656 turn:133 encoder: 21415 , brightness: 185 34 19 32 19 36 19 967 x1:39 y1:0 x2:34 y2:40 slope:-8.000000 theta:0.625151 turn:129 127 : black level: 3750, white level: 980 63 : black level: 4800, white level: 0 95 : black level: 4800, white level: 0 111 : black level: 4390, white level: 29 119 : black level: 3964, white level: 620 123 : black level: 3836, white level: 789 125 : black level: 3742, white level: 928 brightness determined: 125 encoder: 21434 , brightness: 186 40 19 37 19 43 19 968 x1:39 y1:0 x2:40 y2:40 slope