 
 void moveForward(){
   Serial.println("Moving FORWARD...");
-  setMotor(MOTOR_LEFT, MOTOR_DIRECTION_FORWARD, 100);
-  setMotor(MOTOR_RIGHT, MOTOR_DIRECTION_FORWARD, 100);  
+  setMotor(MOTOR_LEFT, MOTOR_DIRECTION_FORWARD, MOTOR_LEFT_FW_SPEED);
+  setMotor(MOTOR_RIGHT, MOTOR_DIRECTION_FORWARD, MOTOR_RIGHT_FW_SPEED);  
 }
 
 void moveBackwards(){
   Serial.println("Moving BACKWARDS...");
-  setMotor(MOTOR_LEFT, MOTOR_DIRECTION_BACKWARDS, 100);
-  setMotor(MOTOR_RIGHT, MOTOR_DIRECTION_BACKWARDS, 100);  
+  setMotor(MOTOR_LEFT, MOTOR_DIRECTION_BACKWARDS, MOTOR_LEFT_BW_SPEED);
+  setMotor(MOTOR_RIGHT, MOTOR_DIRECTION_BACKWARDS, MOTOR_RIGHT_BW_SPEED);  
 }
 
 void rotateRight(){

  moveBackwards();
  doBlink(2,100);
  rotateLeft();
  doBlink(2, 250);
  
  limitMillis = millis() + FORWARD_TIME;
  moveForward();

#define MOTOR_DIRECTION_BACKWARDS 0
#define FORWARD_TIME          10000
#define TOO_CLOSE_DISTANCE    6
#define MOTOR_RIGHT_FW_SPEED 91
#define MOTOR_LEFT_FW_SPEED  100
#define MOTOR_RIGHT_BW_SPEED 91
#define MOTOR_LEFT_BW_SPEED  100
#define ROTATE_TIME 150

// the setup function runs once when you press reset or power the board
void setup() {
