private void touchsensorHandler(touchsensor.TouchSensorUpdate notification)
        {

            if (notification.Body.TouchSensorOn)
            {
                if (spotlightOn)
                {
                    _nxtLightSensorPort.Spotlight(false);
                }
                else
                {
                    _nxtLightSensorPort.Spotlight(true);
                }
            }
        }
        //it is handling the light sensor
        private void lightsensorHandler(lightsensor.Replace notification)
        {
            //measuring the intensity and storing in the intensity variable as an integer
            intensity = notification.Body.Intensity;
            //setting the spotlight on
            _nxtLightSensorPort.Spotlight(true);
        }
        //
        private void buttonsHandler(buttons.ButtonsUpdate notification)
        {
            //
        }

        private void locateBlackLine(int angle)
        {
            go(0);

            for (int i = angle; i < 0; i -= 10)
            {
                turn(false, 10);
                if (intensityReading() < 45)
                {
                    return;
                }
            }

            for (int i = -2*angle; i > 0; i += 10)
            {
                turn(true, 10);
                if (intensityReading() < 45)
                {
                    return;
                }
            }
        }

        private int intensityReading()
        {
            /*string color = null;
            // set color string by appropriate intensity range
            if (intensity > 65)
                color = "White";
            else if (intensity < 45)
                color = "Black";
            else
                color = "Grey";
            LogInfo(LogGroups.Console, "Intensity: " + intensity + " | Color: " + color);
            */
            return intensity;
        }

        /*
        private void go(float power)
        {
            drive.SetDriveRequest request = new drive.SetDriveRequest();
            request.LeftPower = power;
            request.RightPower = power;
            _nxtDrivePort.DriveDistance(request);
        }
        */

        private void go(float power)
        {
            gendrive.SetDrivePowerRequest request = new gendrive.SetDrivePowerRequest();
            request.LeftWheelPower = power;
            request.RightWheelPower = power;
            _nxtGenDrivePort.SetDrivePower(request);
        }

        /*
        private void turn(bool direction, int angle)
        {
            drive.SetDriveRequest request = new drive.SetDriveRequest();
            if (direction == 0) angle = -angle;
            request.Degrees = angle;
            _nxtDrivePort.RotateDegrees(request);
        }
        */

        private void turn(bool direction, int angle)
        {
            gendrive.RotateDegreesRequest request = new gendrive.RotateDegreesRequest();
            if (direction == false) angle = -angle;
            request.Degrees = angle;
            _nxtGenDrivePort.RotateDegrees(request);
        }