 
 uint8_t interrupt = 2;
 
+int l1_motor = 10;
+int l2_motor = 9;
+int r1_motor = 6;
+int r2_motor = 5; 
+
 void setup()
 {
   //analogReference(EXTERNAL);

  readSensors();
  printSensors();
  determineDirection();
  Serial.println();
  delay(500);
}

  }
}


void drive(int nx, int sx, int ex, int wx)
{
  //north
  if (nx <= 50) nx = 0;
  nx = map(nx, 0, 600, 0, 255);
  analogWrite(l1_motor, nx);
  analogWrite(l2_motor, 0);
  analogWrite(r1_motor, nx);
  analogWrite(r2_motor, 0);
}

