iRobot AVR line following code

[hayes4u2c]

Does anyone know where I might find an example line following code that works with the iRobote create, utilizing WinAVR???

Moose

[hayes4u2c]

Ok, I think I may be on the right track, I currently have the iRobot configured with the Sharp IR sensor.  I have uploaded both the iRobot Create Sharp IR Scanner source code and the iRobot Create WaveFront Source Code from http://www.societyofrobots.com/robot_iRobot_Create_mod.shtml 

Both source codes seem to be working with the newly installed Sharp IR sensor, however I can't figure out how to save an image to be used for tracking.  I believe the original code for the iRobot Create Sharp IR Scanner came from the 50 dollar robot project.  The 50 dollar robot saves the image to be followed at start up.  I tried that with the iRobot but it does not seem to be working. 

In the example video at,
iRobot Create with Stampy Edge-Detection 
The iRobot is tracking a beer can, can anyone tell me how to set what will be tracked?

Chris