CMUcam Line Follower Tutorial

I built a vision line follower robot a couple of months ago and haven't got a chance to document it. Anyways, I wrote up some documentation today - http://www.narobo.com/robots/line_vision/line_vision.html

I have more than a dozen projects and robots to document , so expect a lot more documentation to be upload this week and next week. Also, I'll be uploading a ton of videos to youtube, most of them old stuff I've never gotten around to uploading.
Heres my Youtube Channel : http://www.youtube.com/user/Erobots