Line Follower Sharp Turn and blank pass code

Other Hardware Robotics
1

i have PD controlled line follower robot.What are codes for handling this sharp turns and blanks.

and this is my code long count1,count2,error1;int Kp_1=6;int sensor1, sensor2, sensor3, sensor4, - Pastebin.com I am using 6 sensors.And i am using error to rotate the robot. please help me to handle.

2

What are codes for handling this sharp turns and blanks.

"Handling" them in what way? The answer is to hunt for the line again, when it disappears, and follow it again when you find it.