void DriveFindLineOrange(){
    reset();
    for (int i = 0; i < 4; i++){
        LCD.WriteRC("In Loop",7,1);
        float start = TimeNow();
        left_motor.SetPercent(15);
        right_motor.SetPercent(10);
        while (TimeNow() - start < 1){
            if (left.Value() < ORANGE_LEFT_THRESHOLD || right.Value() < ORANGE_RIGHT_THRESHOLD || middle.Value() < ORANGE_MIDDLE_THRESHOLD) {
                reset();
                return;
            }
        }
        reset();
        start = TimeNow();
        right_motor.SetPercent(15);
        left_motor.SetPercent(10);
        while (TimeNow() - start < 1){
            if (left.Value() < ORANGE_LEFT_THRESHOLD || right.Value() < ORANGE_RIGHT_THRESHOLD || middle.Value() < ORANGE_MIDDLE_THRESHOLD) {
                reset();
                return;
            }
        }
        reset();
    }
}