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help for Line Follower

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bhoopsharma

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line size is 4 c.m. then line get expand by 2 c.m. become 6 c.m. , again line get shrink by 2 c.m. , become 2 c.m.
robot must stay for 2 sec at line expansion & contraction

help me to do above mention modification in c program. I have placed 5 sensor at 0, 2 , 3, 4, 6 c.m. distance working properly following path which have a helical shape

but i don't know how to above mention changes
 

What kind of sensors do you have (one LED and five phototransistors, five LED-transistor pairs)? Are the outputs of sensors analog or digital? How are the sensors arranged geometrically? If you manually place the robot on the line, what do you read from the sensors, when the line is 4cm? 6cm? 2cm?
 

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