   {
     //go north
     //lcd.print("go north");
+    BT.print("go north");
     analogWrite(l1_motor, 255);
     analogWrite(l2_motor, 0);
     analogWrite(r1_motor, 255);

{
  readSensors();
  printSensors();
  move();
  //determineDirection();
  //drive(sensorVals[n], sensorVals[s], sensorVals[e], sensorVals[w]);

  {
    //go north east
    //lcd.print("go north-east");
    BT.print("go north-east");
    analogWrite(l1_motor, 255);
    analogWrite(l2_motor, 0);
    analogWrite(r1_motor, 55);
