int PhotoArray[7] = {0,0,0,0,0,0,0};
		//status of each PhotoTransistor stored here
		int TransistorArray[7] = {8,14,6,4,2,0,12};
		//TransistorArray relates the respective ADC/Transistor channel to the index of IRs.
		for(int i = 0; i < 7; i++){
			setIR(i);
			for(int j = 0; j < 1000; j++){} //garbage loop for delay
			PhotoArray[i] = PollIR(TransistorArray[i]);
			trace_printf("%u ", PhotoArray[i]);//in theory I can remove this, not sure what happens in practice.
			if(!PhotoArray[i])//sets display LED when on tape
				setLED(i);
			if(PhotoArray[i])//resets display LED when not on tape
				resetLED(i);
			for(int j = 0; j < 1000; j++){} //garbage loop for delay
		}
		//case: on track, middle 3 transistors read tape
		if(!PhotoArray[2] && !PhotoArray[3] && !PhotoArray[4]){
			//reset reverse pins, L&R motors
			HAL_GPIO_WritePin( GPIOB, GPIO_PIN_4 , GPIO_PIN_RESET );
			HAL_GPIO_WritePin( GPIOE, GPIO_PIN_6 , GPIO_PIN_RESET );
			//set forward pins, L&R motors
			HAL_GPIO_WritePin( GPIOB, GPIO_PIN_6 , GPIO_PIN_SET );
			HAL_GPIO_WritePin( GPIOB, GPIO_PIN_8 , GPIO_PIN_SET );
		}