Soooo I got my line tracking down but when it hits the end of the line it always turns around. I watched the videos of timing and rotation but still can't find out how to put it all together. Thanks for the help and consideeration!

i can't help you.

I can't help you either but my program was messed up when I put my flash drive I really need your help with the beginning I'm getting mad

Check out my reply!

I'm getting the distinct feeling that all of these recent line tracking questions may be related somehow, I'm just not quite sure how....

As far as stopping the robot at the end of the line tracking segment, take a look at this thread. You are both having the same issue, and they both have the same solution; when exactly do you want the robot to stop, and where to do you tell it to stop? The infinite loop (while (true)) is the culprit in this one, because it will never stop executing.