#include <RedBot.h> //includes the redbot library
RedBotMotors motors;// Instantiate the motor control object.
RedBotSensor IRSensor1 = RedBotSensor(A4);// initialize sensors - left
RedBotSensor IRSensor2 = RedBotSensor(A5);// right
int thr = 915; // wood floor is roughly 895-915
int lSpeed = -70; //forward speed
int rSpeed = 65; //back speed
int turn = 60; //turn speed that worked
void setup() {

//test code

//motors.leftMotor(-80);
//motors.rightMotor(75);
//delay(6000);
//motors.stop();
//delay(100);
//motors.leftMotor(-100);
//motors.rightMotor(-100);
//delay(520);
//motors.stop();
Serial.begin(9600);

}

void loop() {

if (IRSensor1.read() > thr && IRSensor2.read() > thr){ // Sensors are over the line, move forward
  motors.leftMotor(lSpeed);
  motors.rightMotor(rSpeed);
}
if(IRSensor1.read() < thr && IRSensor2.read() < thr) { //Both sensors are off the line, assume its off the line and turn
  motors.stop();

  motors.leftMotor(-turn);
  motors.rightMotor(-turn);

}
if(IRSensor1.read() < thr && IRSensor2.read() > thr) { //Left sensor is off the line, compensate by adjusting right.
  motors.leftMotor(lSpeed-15);
  motors.rightMotor(rSpeed);
  }
if (IRSensor1.read() > thr && IRSensor2.read() < thr){ //Right sensor is off the line, compensate by adjusting left
  motors.leftMotor(lSpeed);
  motors.rightMotor(rSpeed+15);
}

//test code

//Serial.print(IRSensor1.read());
//Serial.print("\t");// tab character
//Serial.print(IRSensor2.read());
//Serial.print("\t");
}