diff --git a/devices/DiWheelDrive/linefollow.cpp b/devices/DiWheelDrive/linefollow.cpp
index 8d7a0981379a93a42706b8910d7cdbc651ad2277..2d2a4ffb41b6377fab03defe86a698036adeaa99 100644
--- a/devices/DiWheelDrive/linefollow.cpp
+++ b/devices/DiWheelDrive/linefollow.cpp
@@ -1,5 +1,5 @@
 // #include "global.hpp"
-#include "linefollow.hpp" 
+#include "linefollow.hpp"
 #include <cmath>
 #include <limits>
 
@@ -71,10 +71,11 @@ int LineFollow::getError(){
         error = (FL -targetL + FR - targetR);
         break;
     case LineFollowStrategy::MIDDLE:
-        // Assume that the smallest value means driving in the middle
-        // targetL = targetR = !(targetL<targetR)?targetR:targetL;
-        error = (FL -targetL + FR - targetL);
-        break;
+      //TODO: Not working!
+      // Assume that the smallest value means driving in the middle
+      // targetL = targetR = !(targetL<targetR)?targetR:targetL;
+      error = (FL -targetL + FR - targetL);
+      break;
     case LineFollowStrategy::TRANSITION_L_R: case LineFollowStrategy::TRANSITION_R_L:
       error = transitionError(FL, FR, targetL, targetR);
       break;
@@ -102,13 +103,13 @@ int LineFollow::getError(){
 
 
 /**
- * Depending on the strategy different behaviours will be triggered. 
- *  FUZZY - standard tracking of black area 
+ * Depending on the strategy different behaviours will be triggered.
+ *  FUZZY - standard tracking of black area
  *  REVERSE - drive back
- *  @param: rpmSpeed motor speed 
+ *  @param: rpmSpeed motor speed
  */
 int LineFollow::followLine(int (&rpmSpeed)[2]){
-  
+
     int correctionSpeed = 0;
     switch (this->strategy)
     {
@@ -125,7 +126,7 @@ int LineFollow::followLine(int (&rpmSpeed)[2]){
       rpmSpeed[constants::DiWheelDrive::LEFT_WHEEL] = -1000000*global->forwardSpeed;
 
       rpmSpeed[constants::DiWheelDrive::RIGHT_WHEEL] = -1000000*global->forwardSpeed;
-      
+
       break;
 
     default:
@@ -158,7 +159,7 @@ int LineFollow::getPidCorrectionSpeed(){
     // int correctionSpeed = (int) (global->K_p*error + Ki*accumHist - global->K_d*sloap);
     int32_t correctionSpeed = (int32_t) (K_p*error + K_i*accumHist + K_d*sloap);
     oldError = error;
-    
+
     // Overflow Protection
     if ((error > 0) && (accumHist > std::numeric_limits<int32_t>::max() - error)){
       // Overflow detected
@@ -352,7 +353,7 @@ void LineFollow::defuzzyfication(colorMember (&member)[4], int (&rpmFuzzyCtrl)[2
       // turn right
       copyRpmSpeed(rpmTurnRight, rpmFuzzyCtrl);
     }
-  // no sensor detects anything 
+  // no sensor detects anything
   } else {
     // line is lost -> stop
     whiteFlag = 1;
@@ -437,4 +438,4 @@ void LineFollow::copyRpmSpeed(const int (&source)[2], int (&target)[2]) {
   target[constants::DiWheelDrive::LEFT_WHEEL] = source[constants::DiWheelDrive::LEFT_WHEEL];
   target[constants::DiWheelDrive::RIGHT_WHEEL] = source[constants::DiWheelDrive::RIGHT_WHEEL];
   // chprintf((BaseSequentialStream*) &SD1, "Speed left: %d, Speed right: %d\r\n", target[0], target[1]);
-}
\ No newline at end of file
+}