 {
   printSensors();
   //lcd.setCursor(0,3);
-  if(sensorVals[n] > 130 || sensorVals[w] > 130 || sensorVals[e] > 130)
+  if(sensorVals[n] > move_threshold || sensorVals[w] > move_threshold || sensorVals[e] > move_threshold)
   {
   if ((sensorVals[n]*.6) > sensorVals[e])
   {

  {
    if (abs(sensorVals[w]-sensorVals[e]) < 50)
    {
      analogWrite(l1_motor, 200);
      analogWrite(l2_motor, 0);
      analogWrite(r1_motor, 200);
      analogWrite(r2_motor, 0);
      //lcd.println("head north");
      Serial.println("head north");

  //else if ((sensorVals[w]*.65) > sensorVals[n]  && sensorVals[w > 100)
  {
      analogWrite(l1_motor, 0);
      analogWrite(l2_motor, 230);
      analogWrite(r1_motor, 230);
      analogWrite(r2_motor, 0);
     Serial.println("head west");
     BT.println("head west");
