     }
     else if (sensorVals[e]*1.2 >= sensorVals[w]*1.2)
     {
-      analogWrite(l1_motor, 200);
+      analogWrite(l1_motor, 230);
       analogWrite(l2_motor, 0);
-      analogWrite(r1_motor, 50);
+      analogWrite(r1_motor, 100);
       analogWrite(r2_motor, 0);
       //lcd.println("head north-east");
       Serial.println("head north-east");

  {
    if (abs(sensorVals[w]-sensorVals[e]) < 50)
    {
      analogWrite(l1_motor, 200);
      analogWrite(l2_motor, 0);
      analogWrite(r1_motor, 200);
      analogWrite(r2_motor, 0);
      //lcd.println("head north");
      Serial.println("head north");

  //else if ((sensorVals[w]*.65) > sensorVals[n]  && sensorVals[w > 100)
  {
      analogWrite(l1_motor, 0);
      analogWrite(l2_motor, 230);
      analogWrite(r1_motor, 230);
      analogWrite(r2_motor, 0);
     Serial.println("head west");
     BT.println("head west");
