 int LBL = 11; //digital pin
 int LBR = 12; //digital pin
 
-int RTL = ; //PWM
-int RTR = ; //PWM
-int RBL = ; //digital pin
-int RBR = ; //digital pin
+int RTL = 6; //PWM
+int RTR = 9; //PWM
+int RBL = 8; //digital pin
+int RBR = 13; //digital pin
 
 int eyeballLeft = A1; //analog read
-int eyeballRight = ; //analog read
+int eyeballRight = A2; //analog read
+int Malp = 0;
 
 int brainLeft = 0;
 int brainRight = 0;
 
 void setup(){
+  //This is all of the pins controlling the left motor 
   pinMode(LTL, OUTPUT);
   pinMode(LTR, OUTPUT);
   pinMode(LBL, OUTPUT);
   pinMode(LBR, OUTPUT);
   
+  //This is all of the pins controlling the right motor
   pinMode(RTL, OUTPUT);
   pinMode(RTR, OUTPUT);
   pinMode(RBL, OUTPUT);

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

    digitalWrite(LBR, LOW); //NPN
    digitalWrite(RBR, LOW); //NPN
    analogWrite(LTL, brainRight); //PNP
    analogWrite(RTL, Malp); //how fast should this motor spin backwards
    delay(1000);
  }
  else if (brainLeft > brainRight){
    //case 2: soft left turn 
    //safety
    digitalWrite(LBL, HIGH); //NPN
    digitalWrite(RBR, HIGH); //NPN
