   // recovery
   if(!onTape(leftReading) && !onTape(centerReading) && !onTape(rightReading))
   {
+    inRecovery = true;
     if(driftingLeft) {
       leftSpeed = SPEED;
       rightSpeed = MIN_SPEED;

  Serial.print(leftSpeed);
  Serial.print("\t");
  Serial.print(rightSpeed);
  Serial.println();
}



void loop()
{
  bool inRecovery = false;
  int leftReading = left.read();
  int centerReading = center.read();
  int rightReading = right.read();
