   Serial.print("Reflect 0: ");Serial.print(leftSensor);
   Serial.print("\tReflect 1: ");Serial.print(middleSensor);
   Serial.print("\tReflect 2: ");Serial.print(rightSensor);
-  Serial.print("\tMotor speed: ");Serial.println(speedVal);
+  Serial.print("\tMotor speed: ");Serial.print(speedVal);
+  Serial.print("\tAction: ");
 }
 
 //

int rightSensor = 0;

// This is the speed value, (0-255)
int speedVal = 60; // 60 seem to be a good value
//int turnSpeed = 60;
int turnDelay = 0;
// int containing last action: 0 starting value, 1 fwd, 2 steerLeft, 3 steerRight

  if((leftSensor == 0 && middleSensor == 1 && rightSensor == 0))
  {
    fwd();
    Serial.println("Forward");
    lastAction = 1;
  }
  // if the right sensor is the only sensor that have the value 1, the bot need to compensate by turning right
  else if((leftSensor == 0 && middleSensor == 0 && rightSensor == 1))
  {
    steerLeft();
    Serial.println("SteerLeft");
    lastAction = 2;
  }
  // if the left sensor is the only sensor that have the value 1, the bot need to compensate by turning left
  else if((leftSensor == 1 && middleSensor == 0 && rightSensor == 0))
  {
    steerRight();
    Serial.println("SteerRight");
    lastAction = 3;
  }
  else
  {
    if(lastAction == 1){fwd();Serial.println("Forward**");}
    else if(lastAction == 2){steerLeft();Serial.println("SteerLeft**");}
    else if(lastAction == 3){steerRight();Serial.println("SteerRight**");}
    else {stop();Serial.println("Stop");}
  }
  delay(loopDelay);
}

void readSensors(){
