// IR Sensor
#define leftCenterSensor   A2
#define leftNearSensor     A1
#define leftFarSensor      A0
#define rightCenterSensor  A3
#define rightNearSensor    A4
#define rightFarSensor     A5

// IR Sensor readings
int leftCenterReading;
int leftNearReading;
int leftFarReading;
int rightCenterReading;
int rightNearReading;
int rightFarReading;

int leftNudge;
int replaystage;
int rightNudge;

// Enable Pins
#define enl 9   // LEFT
#define enr 10  // RIGHT

// speed of motor
#define spd 150

#define leapTime 200

// Motors
#define leftMotor1  5
#define leftMotor2  2
#define rightMotor1 4
#define rightMotor2 3

//for storing path details
char path[30] = {};
int pathLength;
int readLength;