   if ((cur - prevIR) >= 25) {
       // otherwise, poll all the distance sensors
       prevIR = cur;
-      rightDist = sensor.getDist();
-      leftDist = sensor2.getDist();
-      perRightDist = sideright.getDist();
-      perLeftDist = sideleft.getDist();
+      rightDist = rightMidIR.getDist();
+      leftDist = leftMidIR.getDist();
+      perRightDist = rightPerIR.getDist();
+      perLeftDist = leftPerIR.getDist();
 
       //attack code with sensors
       if (expectedVelL > getVelL() + hallTimeThresh || expectedVelR > getVelR() + hallTimeThresh) {

    }
  }
  movement(state);
//  perLeftDist += 350;

  //print out values from sensors and motors to the console
  //Serial.print(past);

  } else {              // LEFT ESC
    L_ESC.writeMicroseconds(pwm);
  }
}

void stop(){
  R_ESC.writeMicroseconds(1500);
  L_ESC.writeMicroseconds(1500);
}
