 }
 
 void loop() {
-  int front, back;
+  long front, back;
   sp();
+  delay(2000);
   Serial.println("Clearing buffers...");
   while(Serial1.available()) Serial1.read();
   while(Serial2.available()) Serial2.read();
   do {
     Serial.println("Waiting for front sensor...");
     while(!Serial1.available()) {
-      delay(10);
+//      delay(10);
     }
     Serial.print("Reading from front sensor...");
     front = Serial1.read();

  } while(back == 0 || back >= 128);

  Serial.print(front, DEC);
  Serial.print(" - ");
  Serial.print(back, DEC);
  Serial.print(" = ");
  Serial.println(front - back);

  if(front > FINAL_THRESH) {
    sp();
    Serial.println("WiFi found!");
  } else if(front - back > DIFF_THRESH) {
//    fd(100);
    Serial.println("It's straight ahead!");
  } else {
//    lt(100);
    Serial.println("Searching...");
  }
  delay(500);
}

  do {
    Serial.println("Waiting for back sensor...");
    while(!Serial2.available()) {
//      delay(10);
    }
    Serial.print("Reading from back sensor... ");
    back = Serial2.read();
