   {
     if (abs(sensorVals[w]-sensorVals[e]) < 50)
     {
-      analogWrite(l1_motor, 200);
+      analogWrite(l1_motor, 230);
       analogWrite(l2_motor, 0);
-      analogWrite(r1_motor, 200);
+      analogWrite(r1_motor, 230);
       analogWrite(r2_motor, 0);
       //lcd.println("head north");
       Serial.println("head north");

  else if ((sensorVals[e]*.65) > sensorVals[n] && sensorVals[e]*.9 > sensorVals[w])
  //else if ((sensorVals[e]*.65) > sensorVals[n] && sensorVals[e] > 100)
  {
      analogWrite(l1_motor, 200);
      analogWrite(l2_motor, 0);
      analogWrite(r1_motor, 0);
      analogWrite(r2_motor, 200);
    Serial.println("head east");
    BT.println("head east");
//    if (abs(sensorVals[n]-sensorVals[s]) < 50)

    }
    else if (sensorVals[w]*1.2 >= sensorVals[e]*1.2)
    {
      analogWrite(l1_motor, 100);
      analogWrite(l2_motor, 0);
      analogWrite(r1_motor, 230);
      analogWrite(r2_motor, 0);
      //lcd.println("head north-west");
      Serial.println("head north-west");
