try:
        while True:
            # the first if condition handles right angle turns
            # if the left sensor and right sensor continually hit the black tape consecutively
            # then, break this condition by movine forward
            if (right_bucket > 2 and left_bucket > 2):
                        robot.forward(100,0.1)
            if (rightSensor() == 1 and leftSensor() != 1):              #right sensor is on the tape so move right
                            robot.left(50,0.1)                          #50 is speed and 0.1 is time
                            right_bucket = right_bucket + 1
                   elif (leftSensor() == 1 and rightSensor() != 1):
                            robot.right(50,0.1)
                            left_bucket = left_bucket + 1
                   else:
                            robot.forward(100,0.05)
                            left_bucket = 0                             #reset the bucket
                            right_bucket = 0
                   time.sleep(0.1)

    except KeyboardInterrupt:
            GPIO.cleanup()