         go();
         smalsiukasState = STATE_FOLLOWING;
         beep();
+        lineLastSeenTs = millis();
       }
       break;
     case STATE_FOLLOWING:

            }
            mirgalkeOff();
          } else {
            if (0 == l && millis() - lineLastSeenTs > LINE_SEEN_TIMEOUT) {
              parkingOn();
              beeep();
              delay(500);
              beeep();
              stop();
              smalsiukasState = STATE_STOP;
            }
          }
        } else if (isRequestTimeout()) {
          Serial.print('T');

        smalsiukasState = STATE_STOP;
      }

		if (millis() - lineLastSeenTs > LINE_SEEN_TIMEOUT) {
		  parkingOn();
		  beeep();
		  delay(500);
		  beeep();
		  stop();
		  smalsiukasState = STATE_STOP;
		}

      break;
    case STATE_ERROR:
      break;
