     turn(LEFT, false);
     mostRecentTurn = LEFT;
   }
-  else  // otherwise, go straight
+  // If robot does not detect line, do normal behaviour - seek and destroy!
+  else
   {
     lVal = analogRead(0);   // reads the value of the sharp sensor
     rVal = analogRead(1);

  
  sensors.read(sensor_values);

  if (sensor_values[0] < QTR_THRESHOLD)
  {
    // note - if leftmost sensor detects line, reverse and turn to the right

  delay(REVERSE_DURATION);
  motors.setSpeeds(FULL_SPEED * direction, -FULL_SPEED * direction);
  delay(randomize ? TURN_DURATION + (random(8) - 2) * duration_increment : TURN_DURATION);
  motors.setSpeeds(0,0);
  last_turn_time = millis();
}

