Today we started coding the intersections. We got it to turn left at the junction and then stop at the end of the left fork and raise and lower the winch. I don't have a video, and it isn't very reliable. But it works by increasing a variable and then doing certain things depending on what the variable is. If it is even, then it follows the line like normal, but if it is odd then it will do something else. Here is a pic of physical improvements we made. The rear wheel is different so the plastic won't drag on the ground and the winch is farther out.
Also, happy Halloween everyone!