Wrote skeleton and began testing reachedIntersection()
Implemented Circular buffer on speeds - Did not help
Tried another LF method - not working
Continued Fiddling - no improvements, will revert to original code now
Working well, - just linefollowing
Working with blackness slowing down speeds
LineFollowing Working Brilliantly :)

Almost Perfectly :)
Intersections still need to be implemented...
Further Testing - implemented runSpeed()

Not much success
Began rolling back to how it was last night
Line following working with intersection detection

False postives are still a problem
Moved calibratelinefollowing to setup functions

Now moves itself to calibrate
Altered blackness threshold - still gives false positves I think
Made it always turn left at navigateintersections
Deleted unused variables

Note that this version is good LF
!!Detecting Intersection!! :) - threshold still needs tweaking
Began testing PD
Began implementing PD idea

setLineFollowingSpeeds() is taken from the QTR sensors library documents
Got PD method working - is too slow, not very useful
Set up for use with Leostick
From Geetech Tutorial with alterations for our pins