   Serial.println();
 }
 
-
 void readSensors()
 {
-  int north_intensity = analogRead(north);
-  int west_intensity = analogRead(west);
-  int east_intensity = analogRead(east);
+  int north_temp = 0;
+  int west_temp = 0;
+  int east_temp = 0;
+  //int north_temp = 0;
+  for (int i = 0; i < 10; i++)
+  {
+    north_temp += analogRead(north);
+    west_temp += analogRead(west);
+    east_temp += analogRead(east);
+    delay(50);
+  }
+
+  nVal = north_temp/10.0 - n_base;
+  wVal = west_temp/10.0 - w_base;
+  eVal = east_temp/10.0 - e_base;
+
+//  int north_intensity = analogRead(north);
+//  int west_intensity = analogRead(west);
+//  int east_intensity = analogRead(east);
   //int south_intensity = analogRead(south);
   
-  
-  nVal = north_intensity - n_base;
-  wVal = west_intensity - w_base;
-  eVal = east_intensity - e_base;
+//  nVal = north_intensity - n_base;
+//  wVal = west_intensity - w_base;
+//  eVal = east_intensity - e_base;
   //sVal = south_intensity - s_base;
-  
 
   //sensorVals[0] = {nVal, eVal, sVal, wVal};
   sensorVals[n] = nVal;
   sensorVals[w] = wVal;
   sensorVals[e] = eVal;
-  //sensorVals[s] = sVal;
-  
+  //sensorVals[s] = sVal;  
 }
 
 

  //determineDirection();
  //drive(sensorVals[n], sensorVals[s], sensorVals[e], sensorVals[w]);
  //lcd.println();
  delay(1500);
}



const uint8_t east = A2;
const uint8_t south = A3;

double nVal = 0;
double wVal = 0;
double eVal = 0;
double sVal = 0;

int n = 0;
int w = 1;
