So, many alterations to the program later, we had designed a complicated mechanism where the bot, after getting off the black tape, would turn right for 3 seconds, then move backwards using the back wheels while turning left for 4 seconds, in hopes that I would return to the line. We also faced yet another problem: the front wheels weren't turning enough, or quickly enough, to get back on the line! After testing out multiple wheel types and positions, our final bot looks something like this:
The robot's ability to follow the line was improving, however, some of the turns were too sharp and it would often be sent on a curve beyond the line, and then lose sight of the line completely. This had us stumped. Luckily, it was about then that Chris gave a brief seminar in which he gave us the following equations regarding the motor speed:
After returning to the bot, we essentially scrapped our original program, and used this method instead. While the back motor propelled the bot forward, the two front motors used varying speed in relativity to the light to turn the bot along the edge of the black tape. As you can see in the following video, this method worked very well!