   {
     if(driftingLeft) {
       leftSpeed = SPEED;
-      rightSpeed = 70;
+      rightSpeed = MIN_SPEED;
     }
     else if(driftingRight) {
       rightSpeed = SPEED;
-      leftSpeed = 70;
+      leftSpeed = MIN_SPEED;
     }
   }
 

RedBotSensor center = RedBotSensor(A6); // initialize a center sensor object on A6
RedBotSensor right = RedBotSensor(A7);  // initialize a right sensor object on A7

#define SPEED 120  // sets the nominal speed. Set to any number from 0 - 255.

#define SPEED_ADJUSTMENT 30

#define COUNTER_MAX 20

// These thresholds are manually configured.
#define TAPE_THRESHOLD  150 // below this value, we are looking at the tape

#define NOT_SET 0
#define TAPE_STATE 1
#define NOT_TAPE_STATE 2

RedBotMotors motors;
int leftSpeed;   // variable used to store the leftMotor speed

    driftingRight = true;
    driftingLeft = false;
    
    rightSpeed += SPEED_ADJUSTMENT;
  }
    
  // recovery
