   unsigned long startTime = millis();
   while(millis() - startTime < 10000)   // make the calibration take 10 seconds
   {
-    reflectance.calibrate();
+    reflectanceSensors.calibrate();
   }
   digitalWrite(13, LOW);         // turn off LED to indicate we are through with calibration
 

directly under sensor 5 or was last seen by sensor 5 before being lost.
*/

ZumoReflectanceSensorArray reflectance;

// Define an array for holding sensor values.
#define NUM_SENSORS 6

  // read calibrated sensor values and obtain a measure of the line position.
  // Note: the values returned will be incorrect if the sensors have not been properly
  // calibrated during the calibration phase.
  unsigned int position = reflectanceSensors.readLine(sensorValues);

  // To get raw sensor values instead, call:  
  //reflectanceSensors.read(sensorValues);

  for (byte i = 0; i < NUM_SENSORS; i++)
  {
