Nov.17 + Dec. 19 Line Follower revisted

Dec.19 Note:
It was hoped this post would be finished when Line Follower apps were tested, but once again Forte with needed LMS FBs is too large. More coming after making forte.bin smaller.
Currently several forte Line Follower apps are finished waiting to be tested.
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Nov.17
Line Follower app design notes
The first try at a Line Follower used GT= 2 point controller and then a  hysteresis.
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The current try would like to try to automatically calibrate the light (off line) and dark (on line) following the line edge as suggested in A PID Controller For Lego Mindstorms Robots.
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The approach is to use increasing better controllers:

• 2 point controller via  F_GT FB.
• Hysteresis since need UINT or INT must be created
• PID 

The threadhold / setpoint has be calibrated and it  would be nice if it could adjust itself while running to handle lighting changes and shadows.

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Open is how to find the set point.