 
 void turn(char direction, bool randomize)
 {
-#ifdef LOG_SERIAL
-  Serial.print("turning ...");
-  Serial.println();
-#endif
   
   static unsigned int duration_increment = TURN_DURATION / 4;
   
   // motors.setSpeeds(0,0);
   // delay(STOP_DURATION);
-  motors.setSpeeds(-REVERSE_SPEED, -REVERSE_SPEED);
+      
+  motors.setSpeeds(-FULL_SPEED, -FULL_SPEED);
   delay(REVERSE_DURATION);
-  motors.setSpeeds(TURN_SPEED * direction, -TURN_SPEED * direction);
+  motors.setSpeeds(FULL_SPEED * direction, -FULL_SPEED * direction);
   delay(randomize ? TURN_DURATION + (random(8) - 2) * duration_increment : TURN_DURATION);
-  motors.setSpeeds(SEARCH_SPEED, SEARCH_SPEED);
+  motors.setSpeeds(FULL_SPEED, FULL_SPEED);
   last_turn_time = millis();
 }

  {
    // if leftmost sensor detects line, reverse and turn to the right
    turn(RIGHT, true);
  }
  else if (sensor_values[5] < QTR_THRESHOLD)
  {
    // if rightmost sensor detects line, reverse and turn to the left
    turn(LEFT, true);
  }
  else  // otherwise, go straight
  {

#include <Wire.h>
#include <LSM303.h>

/*  NQRoS Sumo Bot code
    QUT Robotics Club
    Lachlan Robinson
    Natasha Moffat
    Ben Graham  
    uses some code from SumoCollisionDetect example
*/

#define LED 13
Pushbutton button(ZUMO_BUTTON); // pushbutton on pin 12
// Reflectance Sensor Settings
#define NUM_SENSORS 2
byte pins[] = {4, 5};
unsigned int sensor_values[NUM_SENSORS];
// this might need to be tuned for different lighting conditions, surfaces, etc.
#define QTR_THRESHOLD  1500 // microseconds
