void moveForward()
{
  digitalWrite(LEFT_MOTOR_DIR, HIGH);
  analogWrite(LEFT_MOTOR_PWM, 100);
  digitalWrite(RIGHT_MOTOR_DIR, HIGH);
  analogWrite(RIGHT_MOTOR_PWM, 100);
}
void turnLeft()
{
  digitalWrite(LEFT_MOTOR_DIR, HIGH);
  analogWrite(LEFT_MOTOR_PWM, 80);
  digitalWrite(RIGHT_MOTOR_DIR, HIGH);
  analogWrite(RIGHT_MOTOR_PWM, 150);
}
void turnRight()
{
  digitalWrite(LEFT_MOTOR_DIR, HIGH);
  analogWrite(LEFT_MOTOR_PWM, 150);
  digitalWrite(RIGHT_MOTOR_DIR, HIGH);
  analogWrite(RIGHT_MOTOR_PWM, 80);
}
void stopMotors()
{
  analogWrite(LEFT_MOTOR_PWM, 0);
  analogWrite(RIGHT_MOTOR_PWM, 0);
}