     buzzer.play(">g32>>c32");
     button.waitForRelease();
   }
-  
+
   sensors.read(sensor_values);
 
   // Does robot detect line?

  {
    lVal = analogRead(0);   // reads the value of the sharp sensor
    rVal = analogRead(2);
    lVoltage = lVal*(5/1023.0);
    rVoltage = rVal*(5/1023.0);
    lDist = 27.0570*pow(lVoltage,-1.1811);//pow(((val*(5/1023.0)*0.001221)/16.251),1.1765);
    rDist = 27.0570*pow(rVoltage,-1.1811);
      
    if (lDist<DIST_LIMIT && rDist<DIST_LIMIT){
      motors.setSpeeds(FULL_SPEED, FULL_SPEED);
      loop_start_time = millis();
    }
    else if (lDist<DIST_LIMIT && rDist>DIST_LIMIT){
      motors.setSpeeds(CHASE_SPEED, FULL_SPEED);
      mostRecentTurn = LEFT;
    }
    else if (lDist>DIST_LIMIT && rDist<DIST_LIMIT){
      motors.setSpeeds(FULL_SPEED, CHASE_SPEED);
      mostRecentTurn = RIGHT;
    }
    else {
      if ((millis() - loop_start_time)>5000) {
        motors.setSpeeds(FULL_SPEED, FULL_SPEED);
      }
      else {

  // put your setup code here, to run once:
  //motors.flipLeftMotor(true);
  //motors.flipRightMotor(true);

  pinMode(LED, OUTPUT);
  digitalWrite(13, HIGH);
  //Serial.begin(9600);
  //pinMode(A4, INPUT);
  //pinMode(A5, INPUT);
  //digitalWrite(A4, LOW);
  //digitalWrite(A5, LOW);

  randomSeed((unsigned int) millis());

  // Play a little welcome song
