 #include <Wire.h>
 #include <LSM303.h>
 
-/* NQRoS Sumo Bot code
-  Lachlan Robinson
-  */
+/*  NQRoS Sumo Bot code
+    QUT Robotics Club
+    Lachlan Robinson
+    Natasha Moffat
+    Ben Graham  
+    uses some code from SumoCollisionDetect example
+*/
 
 #define LED 13
 Pushbutton button(ZUMO_BUTTON); // pushbutton on pin 12
 // Reflectance Sensor Settings
 #define NUM_SENSORS 2
-byte pins[] = [4, 5];
+byte pins[] = {4, 5};
 unsigned int sensor_values[NUM_SENSORS];
 // this might need to be tuned for different lighting conditions, surfaces, etc.
 #define QTR_THRESHOLD  1500 // microseconds


void loop() {
  // put your main code here, to run repeatedly:

  if (button.isPressed())
  {
    // if button is pressed, stop and wait for another press to go again

  {
    // if leftmost sensor detects line, reverse and turn to the right
    turn(RIGHT, true);
    mostRecentTurn = RIGHT;
  }
  else if (sensor_values[5] < QTR_THRESHOLD)
  {
    // if rightmost sensor detects line, reverse and turn to the left
    turn(LEFT, true);
    mostRecentTurn = LEFT;
  }
  else  // otherwise, go straight
  {
