   pinMode(A1, OUTPUT);
   digitalWrite(A0, LOW);
   digitalWrite(A1, LOW);
-  // //
-  //
-  // //
+
   pinMode(A0, INPUT);
-  sensor1.begin();
-  //sensor1.setTimeout(500);
-  sensor1.setAddress(0x30);
-  //
+  left_sensor.begin();
+  left_sensor.setAddress(0x30);
+  
   pinMode(A1, INPUT);
-  sensor2.begin();
-  //sensor2.setTimeout(500);
-  sensor2.setAddress(0x31);
-  //
-  // // Start continuous back-to-back mode (take readings as
-  // // fast as possible).  To use continuous timed mode
-  // // instead, provide a desired inter-measurement period in
-  // // ms (e.g. sensor.startContinuous(100)).
-  //sensor1.startContinuous();
-  //sensor2.startContinuous();
+  front_sensor.begin();
+  front_sensor.setAddress(0x31);
 
-  accel_init();
 }
 
 void loop() {
 
   VL53L0X_RangingMeasurementData_t measure;
 
-  lis.read();
-  xAccel = lis.x;
-  yAccel = lis.y;
-
-  time_x = millis();
-  time_y = millis();
-  double deltaT_x = time_x - prevTime_x;
-  double deltaT_y = time_y - prevTime_y;
-  double a_x = xAccel;
-  double a_y = yAccel;
-
-  double aMid_x = (a_x + prevAccel_x)/2.0;
-  double aMid_y = (a_y + prevAccel_y)/2.0;
-
-  velocity_x = aMid_x*deltaT_x + velocity_x;
-  velocity_y = aMid_y*deltaT_y + velocity_y;
-
-  double vMid_x = (velocity_x + prevVelocity_x)/2.0;
-  double vMid_y = (velocity_y + prevVelocity_y)/2.0;
-
-  distance_x = (0.5)*aMid_x*pow(deltaT_x, 2) + vMid_x*deltaT_x + distance_x;
-  distance_y = (0.5)*aMid_y*pow(deltaT_y, 2) + vMid_y*deltaT_y + distance_y;
-
-  double sensorLV = sensor2.rangingTest(&measure, false);
-  double sensorMV = sensor1.rangingTest(&measure, false);
-  Serial.print(sensorLV);
+  double sensor_left_val = front_sensor.rangingTest(&measure, false);
+  double sensor_front_val = left_sensor.rangingTest(&measure, false);
+  Serial.print(sensor_left_val);
   Serial.print("   -----   ");
-  Serial.print(sensorMV);
+  Serial.print(sensor_front_val);
   Serial.println();
-  double motorRV;
-  double motorLV; //percentages
-  // if (sensor1.timeoutOccurred()) { Serial.print(" TIMEOUT"); }
+  double motor_right_val;
+  double motor_left_val; //percentages
+  // if (left_sensor.timeoutOccurred()) { Serial.print(" TIMEOUT"); }
   // max is 2m away = 2000 mm
   // min = 30 mm
   //max ratio is 70

  //ratio is left to right
  //if percentage is 1, turn all the way left
  //if percentage is 0, turn straight
  if (sensorLV > tolerance && sensorMV > tolerance) {
    motorLV = 0.0;
    motorRV = 0.25; //go slowly at first
  } else {
    double ratio = sensorLV / sensorMV;
    Serial.print("Ratio: ");
    Serial.print(ratio);
    Serial.println();
    double percentage = ratio / maxRatio;
    //max .5 to account for mid/left vs right/left
    //min = 0
    double adjustedValue = percentage / 2;
    motorLV = adjustedValue;
    motorRV = (1 - adjustedValue);
  }
  Serial.print("Right capacity: ");
  Serial.print(motorRV);
  Serial.println();
  Serial.print("Left capacity: ");
  Serial.print(motorLV);
  Serial.println();
  //Set the right motor to motorRV of max value
  //Set the left motor of motorLV of max value
  /* CODE INSERTED HERE */
  Serial.println();
  Serial.println();

  prevTime_x = time_x;
  prevTime_y = time_y;
  prevAccel_y = a_y;
  prevAccel_x = a_x;
  prevVelocity_x = velocity_x;
  prevVelocity_y = velocity_y;

}

#include "Adafruit_VL53L0X.h"

Adafruit_VL53L0X left_sensor = Adafruit_VL53L0X();
Adafruit_VL53L0X front_sensor = Adafruit_VL53L0X();

double tolerance = .1; //yes
double max_ratio = 70; //i agree

void setup()
{
