   delay(REVERSE_DURATION);
   motors.setSpeeds(FULL_SPEED * direction, -FULL_SPEED * direction);
   delay(randomize ? TURN_DURATION + (random(8) - 2) * duration_increment : TURN_DURATION);
-  motors.setSpeeds(FULL_SPEED, FULL_SPEED);
+  motors.setSpeeds(0,0);
   last_turn_time = millis();
 }
 

  
  sensors.read(sensor_values);

  if (sensor_values[0] < QTR_THRESHOLD)
  {
    // note - if leftmost sensor detects line, reverse and turn to the right

    turn(LEFT, false);
    mostRecentTurn = LEFT;
  }
  // If robot does not detect line, do normal behaviour - seek and destroy!
  else
  {
    lVal = analogRead(0);   // reads the value of the sharp sensor
    rVal = analogRead(1);
