   } while(back == 0 || back >= 128);
 
   Serial.print(front, DEC);
-  Serial.print(" - ");
+  Serial.print(" / ");
   Serial.print(back, DEC);
   Serial.print(" = ");
-  Serial.println(front - back);
+  Serial.println(front*1000 / back);
 
   if(front > FINAL_THRESH) {
     sp();
     Serial.println("WiFi found!");
-  } else if(front - back > DIFF_THRESH) {
-//    fd(100);
+    digitalWrite(13, HIGH);
+    delay(1000);
+  } else if((front*1000) / back > DIFF_THRESH) {
+    fd(100);
     Serial.println("It's straight ahead!");
+    digitalWrite(13, LOW);
+    delay(1500);
   } else {
-//    lt(100);
+    lt(85);
     Serial.println("Searching...");
+    digitalWrite(13, LOW);
+    delay(500);
   }
-  delay(500);
 }

}

void loop() {
  int front, back;
  sp();
  Serial.println("Clearing buffers...");
  while(Serial1.available()) Serial1.read();
  while(Serial2.available()) Serial2.read();
  do {
    Serial.println("Waiting for front sensor...");
    while(!Serial1.available()) {
      delay(10);
    }
    Serial.print("Reading from front sensor...");
    front = Serial1.read();

#define FINAL_THRESH 83
#define DIFF_THRESH 1080

void setup() {
  Serial.begin(115200);
