 }
 
 void driveLeftForward(int speed) {
-  motors.leftMotor(-1 * speed);
+  motors.leftMotor(-0.9 * speed);
 }
 
 void driveLeftBackward(int speed) {
-  motors.leftMotor(speed);
+  motors.leftMotor(0.9 * speed);
 }
 
 void driveRightForward(int speed) {

RedBotSensor center = RedBotSensor(A6); // initialize a center sensor object on A6
RedBotSensor right = RedBotSensor(A7);  // initialize a right sensor object on A7

#define SPEED 120  // sets the nominal speed. Set to any number from 0 - 255.

#define SPEED_ADJUSTMENT 30

#define COUNTER_MAX 20

// These thresholds are manually configured.
#define TAPE_THRESHOLD  150 // below this value, we are looking at the tape

#define NOT_SET 0
#define TAPE_STATE 1
#define NOT_TAPE_STATE 2

RedBotMotors motors;
int leftSpeed;   // variable used to store the leftMotor speed

  {
    if(driftingLeft) {
      leftSpeed = SPEED;
      rightSpeed = MIN_SPEED;
    }
    else if(driftingRight) {
      rightSpeed = SPEED;
      leftSpeed = MIN_SPEED;
    }
  }

