   int val2 = 0;
   int val3 = 0;
   
-  val_ns = map(log10(nx/sx), -log10(600), log10(600), -127, 127); //S at -127, N at 127
-  val_ew = map(log10(ex/sx), -log10(600), log10(600), -127, 127); //W at -127, E at 127
+  val_ns = map(log(nx/sx), -log(30), log(30), -127, 127); //S at -127, N at 127
+  val_ew = map(log(ex/wx), -log(30), log(30), -127, 127); //W at -127, E at 127
   //The summed/subtracted range of val_ns with val_ew is +/-254
+
+  Serial.print("val_ns: ");
+  Serial.print(val_ns);
+  Serial.print("\t");
+  Serial.print("val_ew: ");
+  Serial.println(val_ew);
+
+  BT.print("val_ns: ");
+  BT.print(val_ns);
+  BT.print("\t");
+  BT.print("val_ew: ");
+  BT.println(val_ew);
 
   if (val_ns - val_ew > 0) //Left motors
   {

    //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);

{
  readSensors();
  printSensors();
  sensorVals[s] = 20;
  drive(sensorVals[n], sensorVals[s], sensorVals[e], sensorVals[w]);
  
  BT.println();
  BT.println();
  Serial.println();
  Serial.println();
  //BT.println("hello world");
  //dmove();
  //determineDirection();
