diff --git a/ev3/detectLine.py b/ev3/detectLine.py
new file mode 100644
index 0000000..e70a61c
--- /dev/null
+++ b/ev3/detectLine.py
@@ -0,0 +1,57 @@
+#! /usr/bin/env python3
+import ev3dev.ev3 as ev3
+
+
+class DetectLine:
+    # Constructor
+    def __init__(self):
+        self.btn = ev3.Button()
+        self.shut_down = False
+
+    def run(self):
+        cs = ev3.ColorSensor()
+        assert cs.connected
+
+        cs.mode = 'COL-REFLECT' # measure light intensity
+        #cs.mode = 'COL-COLOR' # measure colour
+
+        # motors
+        flm = ev3.LargeMotor('outA')  # front-left motor
+        frm = ev3.LargeMotor('outB')  # front-right motor
+        sm = ev3.LargeMotor('outC')   # side motor
+        #sm.run_timed(speed_sp=300, time_sp=1000)
+
+        speed = 360 / 4  # deg/sec, [-1000, 1000]
+        dt = 500  # milliseconds
+        # stop_action = "coast"
+
+        # PID tuning
+        Kp = 1  # proportional gain
+        Ki = 0  # integral gain
+        Kd = 0  # derivative gain
+
+        integral = 0
+        previous_error = 0
+
+        # initial measurement when using one sensor to callibrate
+        target_value = cs.value()
+
+        # Start the main loop
+        while not self.shut_down:
+            # Calculate steering using PID algorithm
+            error = target_value - cs.value()
+            integral += (error * dt)
+            derivative = (error - previous_error) / dt
+
+            # u zero:     on target,  drive forward
+            # u positive: too bright, turn right
+            # u negative: too dark,   turn left
+
+            u = (Kp * error) + (Ki * integral) + (Kd * derivative)
+            print(u)
+
+
+# Main function
+if __name__ == "__main__":
+        robot = DetectLine()
+        robot.run()
\ No newline at end of file
diff --git a/robot_software/lineFollower.py b/robot_software/lineFollower.py
new file mode 100644
index 0000000..0ca161d
--- /dev/null
+++ b/robot_software/lineFollower.py
@@ -0,0 +1,32 @@
+#!/usr/bin/env python
+
+import time
+import numpy
+import cv2
+
+class LineFollower:
+
+    MOTOR_FRONT_LEFT = 2
+    MOTOR_FRONT_RIGHT = 3
+
+    def __init__(self, IO): # can change this to pass in the individual sensors and motors instead of entire IO
+        # get the sensors from the phidget board
+        self.getSensors = IO.interface_kit.getSensors
+        self.left_sensor = self.getSensors()[0]
+        self.right_sensor = self.getSensors()[1]
+        self.mc = IO.motor_control
+
+    def motor_speed(self):
+        while True:
+            # Stage 1
+            if self.left_sensor == 0 and self.right_sensor == 0:  # change ranges to match sensor values
+                # continue straight
+                self.mc.setMotor(self.MOTOR_FRONT_LEFT, 1)
+                self.mc.setMotor(self.MOTOR_FRONT_RIGHT, 1)
+            # Stage 2
+            if self.left_sensor == 0 and self.right_sensor == 1:
+                # adjust
+                self.mc.setMotor(self.MOTOR_FRONT_RIGHT, -1)
+            if self.left_sensor == 1 and self.right_sensor == 0:
+                self.mc.setMotor(self.MOTOR_FRONT_LEFT, -1)
+            #print(r, l)
diff --git a/robot_software/toddler.py b/robot_software/toddler.py
index ea0d718..9d968b3 100644
--- a/robot_software/toddler.py
+++ b/robot_software/toddler.py
@@ -3,9 +3,13 @@
 import time
 import numpy
 import cv2
+from lineFollower import LineFollower
 
 class Toddler:
-    MOTOR_FORWARD = 1
+
+    MOTOR_SIDE = 1
+    MOTOR_FRONT_LEFT = 2
+    MOTOR_FRONT_RIGHT = 3
 
     def __init__(self, IO):
         print('[Toddler] I am toddler playing in a sandbox')
@@ -14,14 +18,16 @@ def __init__(self, IO):
         self.getSensors = IO.interface_kit.getSensors
         self.mc = IO.motor_control
         self.sc = IO.servo_control
+        self.follower = LineFollower(IO)
 
     def control(self):
         print('{}\t{}'.format(self.getSensors(), self.getInputs()))
-        self.mc.setMotor(self.MOTOR_FORWARD, 1)
+        # self.mc.setMotor(self.MOTOR_FRONT_LEFT, 1)
+        # self.mc.setMotor(self.MOTOR_FRONT_RIGHT, 1)
+        self.follower.motor_speed()
         time.sleep(0.5)
 
     def vision(self):
         image = self.camera.getFrame()
         self.camera.imshow('Camera', image)
-        time.sleep(0.05)
-
+        time.sleep(0.05)
\ No newline at end of file