       //turns right (east)
       else if (sensorVals[e]*1.2 >= sensorVals[w]*1.2)
       {
-        dir[index] = 5;
-        if(index == 2 && dir[0] = 5 && dir[1] = 5 && dir[2] = 5)
-        {
-          analogWrite(l1_motor, 230);
-          analogWrite(l2_motor, 0);
-          analogWrite(r1_motor, 50);
-          analogWrite(r2_motor, 0);
-          //lcd.println("head north-east");
-          Serial.println("head north-east");
-          BT.println("head north-east");
-        }
+        analogWrite(l1_motor, 230);
+        analogWrite(l2_motor, 0);
+        analogWrite(r1_motor, 50);
+        analogWrite(r2_motor, 0);
+        //lcd.println("head north-east");
+        Serial.println("head north-east");
+        BT.println("head north-east");
       }
       //if neither conditions above are met, then Bit contiues along the
       //previous known direction

      //turns left (west)
      else if (sensorVals[w]*1.2 >= sensorVals[e]*1.2)
      {
        dir[index] = 4;
        if(index == 2 && dir[0] = 4 && dir[1] = 4 && dir[2] = 4)
        {
          analogWrite(l1_motor, 50);
          analogWrite(l2_motor, 0);
          analogWrite(r1_motor, 230);
          analogWrite(r2_motor, 0);
          //lcd.println("head north-west");
          Serial.println("head north-west");
          BT.println("head north-west");
        }
        
      }
      //If east intensity is greater than east intensity, then this means
      //that the BitBeacon signal is coming from north-east

    //As of Version 0.1.0. the delineation between west and north-west is a fuzzy
    else if ((sensorVals[w]*.65) > sensorVals[n] && sensorVals[w]*.9 > sensorVals[e])
    {
        analogWrite(l1_motor, 0);
        analogWrite(l2_motor, 200);
        analogWrite(r1_motor, 200);
        analogWrite(r2_motor, 0);
       Serial.println("head west");
       BT.println("head west");
    }

    //If no direction can be determined, Bit continues along the previously
