     digitalWrite(LBR, LOW); //NPN
     digitalWrite(RBR, LOW); //NPN
     analogWrite(LTL, brainRight); //PNP
-    analogWrite(RTL, Malp); //PNP how calculate Malp??? need testing
+    analogWrite(RTL, Malp); //how fast should this motor spin backwards
     delay(1000);
   }
-  elif (brainLeft > brainRight){
+  else if (brainLeft > brainRight){
+    //case 2: soft left turn 
     //safety
     digitalWrite(LBL, HIGH); //NPN
     digitalWrite(RBR, HIGH); //NPN

    analogWrite(LTR, brainLeft); //PNP
    //delay(1000);
  }
  
    
    

    analogWrite(RTR, brainLeft); //PNP
    //delay(1000);
  }
  else if (brainRight > 2 * brainLeft){
    //case 3: sharp turn to the right
    //safety
    digitalWrite(RBR, HIGH); //NPN
    digitalWrite(LBR, HIGH); //NPN
