   analogWrite(LTR, 0);
   analogWrite(RTL, 0);
   analogWrite(RTR, 0);
+  
   //look around
   brainLeft = analogRead(eyeballLeft);
   brainRight = analogRead(eyeballRight);
+  
   //map brain inputs to motor numbers 
+  Malp = brainRight - brainLeft;
+  
   //react
   if (brainLeft > 2 * brainRight){
+    //case 1: sharp left turn
     //safety
     digitalWrite(LBL, HIGH); //NPN
     digitalWrite(RBL, HIGH); //NPN

    digitalWrite(RBL, LOW); //NPN
    digitalWrite(LBL, LOW); //NPN
    analogWrite(RTR, brainRight); //PNP
    analogWrite(LTR, Malp); //PNP how calculate Malp??? need testing
    //delay(1000);
  }
  elif (brainRight > brainLeft){
    //safety
    digitalWrite(RBL, HIGH); //NPN
    digitalWrite(LBR, HIGH); //NPN

    analogWrite(RTR, brainLeft); //PNP
    //delay(1000);
  }
  else if (brainRight > 2 * brainLeft){
    //case 3: sharp turn to the right
    //safety
    digitalWrite(RBR, HIGH); //NPN
    digitalWrite(LBR, HIGH); //NPN
