   Serial.print("\n");
 
   // if the right sensor is the only sensor that have the value 1, the bot need to compensate by turning right
-  if((leftSensor == 0 && middleSensor == 0 && rightSensor == 1) || (leftSensor == 0 && middleSensor == 1 && rightSensor == 1)) 
+  if((leftSensor == 1 && middleSensor == 0 && rightSensor == 0) || (leftSensor == 1 && middleSensor == 1 && rightSensor == 0))
   {
       Motors.runMotor(1,FORWARD,(turnMulti*speedVal));
-      Motors.runMotor(2,BACKWARD,0);
+      Motors.runMotor(2,FORWARD,0);
       //remove delay
-      delay(delVal);      
+      delay(delVal);
       //if((leftSensor == 0 && middleSensor == 0 && rightSensor == 0) || (leftSensor == 1 && middleSensor == 1 && rightSensor == 1))
 //      {
 //          Motors.runMotor(1,FORWARD,(turnMulti*speedVal));

//int turnSpeed = 60;

// Variable that works as a factor regulating the turn speed. i.e 1.8*spedVal = turnspeed
float turnMulti = 1.8;

myMotors Motors;   // Create Motors object
mySensors Sensors; // Create Sensors object

void setup() {
  Serial.begin(9600); // set up Serial connection at 9600 bps
    
  Motors.beginMotors();   // Start motors
  Sensors.beginSensors(); // Start sensors


// TODO:
//
//    * Weigh down axis
//    * Build functions instead
//    * Measure three times and use average

// Include libraries:
#include <Adafruit_MotorShield.h>
#include <lenlib.h>
