Seguidor de línea

import lejos.nxt.Button;
import lejos.nxt.LCD;
import lejos.nxt.LightSensor;
import lejos.nxt.Motor;
import lejos.nxt.SensorPort;

public class SigueLineasP {

public static void main(String[] args) throws Exception
{
LightSensor sluz = new LightSensor(SensorPort.S1);
int error, max, min, med;

min = sluz.readNormalizedValue();
LCD.drawString("Valor minimo:", 2, 3);
LCD.drawInt(min, 4, 6, 5);
Thread.sleep(2000);

Motor.A.rotate(-90,true);
Motor.B.rotate(90);
max = sluz.readNormalizedValue();
LCD.clear();
LCD.drawString("Valor maximo:", 2, 3);
LCD.drawInt(max, 4, 6, 5);
Thread.sleep(2000);

Motor.A.rotate(45,true);
Motor.B.rotate(-45);
med = (max + min)/ 2;
LCD.clear();
LCD.drawString("Valor medio:", 2, 3);
LCD.drawInt(med, 4, 6, 5);
Thread.sleep(2000);

Motor.A.forward();
Motor.B.forward();
LCD.clear();
LCD.drawString("Pulse ESCAPE", 2, 3);
LCD.drawString("para parar", 3, 5);
while (true) {
error = med - sluz.readNormalizedValue();
Motor.A.setSpeed(300 - error);
Motor.B.setSpeed(300 + error);
if (Button.ESCAPE.isPressed()){
break;
}
}
// TODO Auto-generated method stub
}

}