 const uint8_t motorPin1_2 = 5;
 
 const uint8_t motorPin2_1 = 7;
-const uint8_t motorPin2_2 = 8;
+const uint8_t motorPin2_2 = 6;
 
 const uint8_t motorEnablePin = 3;
 

const uint16_t initialDelay = 2500;

// Ranges and Data
const uint8_t rangeLimit_Warning1 = 50;
const uint8_t rangeLimit_Warning2 = 40;
const uint8_t rangeLimit_Warning3 = 25;
const uint8_t rangeLimit_Stop = 15;

const uint16_t rangeLimit_RotateFor = 1000;
unsigned long rangeLimit_Timestamp = 0;

            if(rangeRight > rangeLeft && rangeRight > rangeCenter )
            {
                // drive straight
                SetMotor(motorPin1_1, motorPin1_2, motorSpeed);
                SetMotor(motorPin2_1, motorPin2_2, motorSpeed/2);
            }

            if(rangeLeft > rangeRight && rangeLeft > rangeCenter )
            {
                // drive straight
                SetMotor(motorPin1_1, motorPin1_2, motorSpeed/2);
                SetMotor(motorPin2_1, motorPin2_2, motorSpeed);
            }
        }


        // drive straight
        SetMotor(motorPin1_1, motorPin1_2, motorSpeed);
        SetMotor(motorPin2_1, motorPin2_2, motorSpeed);

        return;
    }
