 void fwd(){
   Motors.runMotor(1,FORWARD,speedVal);
   Motors.runMotor(2,FORWARD,speedVal);
+  delay(delVal);
 }
 void rev(){
   Motors.runMotor(1,BACKWARD,speedVal);
   Motors.runMotor(2,BACKWARD,speedVal);
+  delay(delVal);
 }
 void stop(){
   Motors.runMotor(1,FORWARD,0);
   Motors.runMotor(2,FORWARD,0);
+  delay(delVal);
 }
 void steerRight(){
   Motors.runMotor(1,FORWARD,speedVal*turnMulti);
   Motors.runMotor(2,FORWARD,speedVal);
+  delay(delVal);
 }
 void steerLeft(){
   Motors.runMotor(1,FORWARD,speedVal);
   Motors.runMotor(2,FORWARD,speedVal*turnMulti);
+  delay(delVal);
 }
 void turnLeft(){  // Turn 90 degree LEFT
   Motors.runMotor(1,BACKWARD,speedVal);


  readSensors();

  // if sensor value = 1, then the sensor is on track
  if((leftSensor == 0 && middleSensor == 1 && rightSensor == 0))
  {
    fwd();
    Serial.println("Forward");
    lastAction = 1;
  }
  // if the right sensor is the only sensor that have the value 1, the bot need to compensate by turning right
  else if((leftSensor == 0 && middleSensor == 0 && rightSensor == 1))
  {
    steerLeft();
    Serial.println("SteerLeft");
    lastAction = 2;
  }
  // if the left sensor is the only sensor that have the value 1, the bot need to compensate by turning left
  else if((leftSensor == 1 && middleSensor == 0 && rightSensor == 0))
  {
    steerRight();
    Serial.println("SteerRight");
    lastAction = 3;
  }
  else
  {

int lastAction = 0;

// Variable that works as a factor regulating the turn speed. i.e 1.8*spedVal = turnspeed
float turnMulti = 1.6;

int loopDelay = 0;

