void loop(){
	readSensors();
  	//if only the middle two sensors can see the black line
	if(leftFarReading<200 && rightFarReading<200 && (leftCenterReading>200 || rightCenterReading>200))
	{
		straight();
	}
  	//otherwise goes to the leftHandWall method
	else
	{
		leftHandWall();
	}
}