In this paper, we describe a case study of a company in the domain of automatic guided vehicles (AGVs) that is in the process of migrating from a previous generation of a software product line, which has mainly been centered around hardware, into a new product-line generation which is software-centered. We describe the issues motivating this transition and the factors that complicate it. Moreover, we present a three-stage process for migrating to a new software product line. This process is currently being initiated in collaboration with the aforementioned company.