         smalsiukasState = STATE_STOP;
       }
 
+		if (millis() - lineLastSeenTs > LINE_SEEN_TIMEOUT) {
+		  parkingOn();
+		  beeep();
+		  delay(500);
+		  beeep();
+		  stop();
+		  smalsiukasState = STATE_STOP;
+		}
+
       break;
     case STATE_ERROR:
       break;

#define P 4
uint8_t nonCriticalSteerings = 0;
uint8_t steerings = 0;
uint32_t lineLastSeenTs = 0;

void followTheLine() {
  switch (smalsiukasState) {

    
    go();
    button.update();
    lineLastSeenTs = millis();
    
}

