 {
   printSensors();
   //lcd.setCursor(0,3);
-  if(sensorVals[n] > 130 || sensorVals[w] > 130 || sensorVals[e] > 130)
+  if(sensorVals[n] > move_threshold || sensorVals[w] > move_threshold || sensorVals[e] > move_threshold)
   {
   if ((sensorVals[n]*.6) > sensorVals[e])
   {

  else if ((sensorVals[e]*.65) > sensorVals[n] && sensorVals[e]*.9 > sensorVals[w])
  //else if ((sensorVals[e]*.65) > sensorVals[n] && sensorVals[e] > 100)
  {
      analogWrite(l1_motor, 200);
      analogWrite(l2_motor, 0);
      analogWrite(r1_motor, 0);
      analogWrite(r2_motor, 200);
    Serial.println("head east");
    BT.println("head east");
//    if (abs(sensorVals[n]-sensorVals[s]) < 50)

int l1_motor = 11;
int l2_motor = 10; 

int move_threshold = 30;

void setup()
{
  Serial.begin(115200);
