diff --git a/src/robot.cpp b/src/robot.cpp
index 61d712e..ca34c02 100644
--- a/src/robot.cpp
+++ b/src/robot.cpp
@@ -97,7 +97,7 @@ void Robot::EnterLineFollowing(float speed)
     robotState = ROBOT_LINING;
 }
 
-int lineLostFrames = 7;
+int lineLostFrames = 24;
 
 void Robot::LineFollowingUpdate(void)
 {
@@ -129,10 +129,14 @@ void Robot::LineFollowingUpdate(void)
                 rollingTurnRate = 0; 
                 turnEffort = 0; 
                 speed = 0;
+                chassis.Stop();
+                return;
+            } else {
+                speed *= 0.97;
             }
         }
         else { 
-            lineLostFrames = 7;
+            lineLostFrames = 24;
         }
 
         chassis.SetTwist(speed, turnEffort);