int CLDistance(int left, int right)
  {
    int zone = 180;  // both sensors seeing background
    int dist = 0;
    if (left > right +30)    _turnDirection = -1;  //turn away from light
    else if(right > left + 30) _turnDirection = 1;   
    if (left + right < zone)   dist = right - left;  // both sensors see line   
    else dist = _turnDirection * zone/2;
    LCD.drawInt(left,4,0,2);
    LCD.drawInt(right,4, 5, 2);
    LCD.drawInt(dist, 4,10, 2);
    LCD.drawInt(_turnDirection,2,14,1);
    LCD.refresh();
    return dist;
  }