 void search() {
   while(!found) {
     // 0 is forward, 1 is backward
-    move(1, 128, rightDir); //right motor
-    move(2, 128, leftDir); //left motor
+    move(1, 200, rightDir); //right motor
+    move(2, 200, leftDir); //left motor
     calcDistance();
     //Serial.print("left: ");
     Serial.print(leftDistance);
     Serial.print(",");
     Serial.println(rightDistance);
-    delay(10);
+    //delay(10);
     if(lost) {
       if(diff>0){//turn right
         rightDir = 0;

int BIN1 = 12; //Direction
int BIN2 = 11; //Direction

#define leftEcho 2  // left Echo Pin
#define leftTrig 4  // left Trigger Pin
#define rightEcho 7 // right Echo Pin
#define rightTrig 6 // right Trigger Pin

// POSSIBLY CHANGE THIS FOR ARENA SIZE
int maximumRange = 150; // Maximum range needed
int minimumRange = 1; // Minimum range needed
long leftDistance = 1000;
long rightDistance = 1000;
long prevLeft;
long prevRight;
long durationLeft, cmLeft, inchesLeft, cmRight, inchesRight, durationRight;
long lD[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
long rD[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
int iterator = 0;

boolean found = false;  // used for search()
boolean lost = false;

boolean tagged = false; // used for follow()
int rightDirMod = 0;
int leftDirMod = 0;

//------------------------------
#define baseSpeed 128
int leftMod = 0;
int rightMod = 0;


int leftDir = 0;
int rightDir = 1;

//line sensor pins(temporarily RPR-220)
#define frontInput  A0
#define frontLed    13
#define leftInput   A1
#define leftLed     17
#define rightInput  A2
#define rightLed    18

//line sensor variables and parameters
#define lineThreshold 100
boolean initialize = true;
long frontBaseVal, leftBaseVal, rightBaseVal;
long frontVal, leftVal, rightVal;

void setup(){
  Serial.begin (9600);
