Infrared Sensors Input backwards

I'm working on a small 2 wheeled robot that has 3 obstacle sensors and drop sensors. Sensors are the FC-51 adjustable model. (sensor link)

The robot only drives when the sensors show an input. If i dial back the potentiometer, the robot stutters and does not work.

Using the adafruit pro trinket 3v
drv8833 motor driver

I think there is a value that is backwards, maybe a high and low switched. The sensors are plugged into A0-A5. Im hoping someone with better coding experience can help identify the issue at hand.

The sensor portion of the code is below. The rest is just motor movement options:

[tr][td]// ===               INTERRUPT DETECTION ROUTINE                ===
// ================================================================

//volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
//void dmpDataReady() {
//    mpuInterrupt = true;
//}

void setup() {
  Serial.begin(9600);
  pinMode(frontSensorPin,INPUT_PULLUP);
  pinMode(rightSensorPin,INPUT_PULLUP);
  pinMode(leftSensorPin,INPUT_PULLUP);
  pinMode(frontSensorPinDown,INPUT_PULLUP);
  pinMode(rightSensorPinDown,INPUT_PULLUP);
  pinMode(leftSensorPinDown,INPUT_PULLUP);
  pinMode(motor00, OUTPUT);
  pinMode(motor01, OUTPUT);
  pinMode(motor10, OUTPUT);
  pinMode(motor11, OUTPUT);
  //motor1.run(RELEASE);
  //motor2.run(RELEASE);
  if(digitalRead(A0))Serial.println("frontSensorPin");
  if(digitalRead(A1))Serial.println("rightSensorPin");
  if(digitalRead(A2))Serial.println("leftSensorPin");
  if(digitalRead(A3))Serial.println("frontSensorPinDown");
  if(digitalRead(A4))Serial.println("rightSensorPinDown");
  if(digitalRead(A5))Serial.println("leftSensorPinDown");
  randomSeed(analogRead(0));
  // join I2C bus (I2Cdev library doesn't do this automatically)
    /*#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
        TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz). Comment this line if having compilation difficulties with TWBR.
    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif

    // initialize serial communication
    // (115200 chosen because it is required for Teapot Demo output, but it's
    // really up to you depending on your project)
    Serial.begin(38400);
    while (!Serial); // wait for Leonardo enumeration, others continue immediately

    // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio
    // Pro Mini running at 3.3v, cannot handle this baud rate reliably due to
    // the baud timing being too misaligned with processor ticks. You must use
    // 38400 or slower in these cases, or use some kind of external separate
    // crystal solution for the UART timer.

    // initialize device
    Serial.println(F("Initializing I2C devices..."));
    mpu.initialize();

    // verify connection
    Serial.println(F("Testing device connections..."));
    Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

    // wait for ready
    
    // load and configure the DMP
    Serial.println(F("Initializing DMP..."));
    devStatus = mpu.dmpInitialize();

    // supply your own gyro offsets here, scaled for min sensitivity
    mpu.setXGyroOffset(220);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-85);
    mpu.setZAccelOffset(1288); // 1688 factory default for my test chip

    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        // turn on the DMP, now that it's ready
        Serial.println(F("Enabling DMP..."));
        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
        Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
        attachInterrupt(0, dmpDataReady, RISING);
        mpuIntStatus = mpu.getIntStatus();

        // set our DMP Ready flag so the main loop() function knows it's okay to use it
        Serial.println(F("DMP ready! Waiting for first interrupt..."));
        dmpReady = true;

        // get expected DMP packet size for later comparison
        packetSize = mpu.dmpGetFIFOPacketSize();
    } else {
        // ERROR!
        // 1 = initial memory load failed
        // 2 = DMP configuration updates failed
        // (if it's going to break, usually the code will be 1)
        Serial.print(F("DMP Initialization failed (code "));
        Serial.print(devStatus);
        Serial.println(F(")"));
    }
*/
    // configure LED for output
    pinMode(LED_PIN, OUTPUT);
}

long aRandomNumber(){
   
  return random(2000,8000);  
}

void doDMP(){
   /*#ifdef ACCELEROMETER
  if (!dmpReady) return;
//Serial.println("YAY2");
    // wait for MPU interrupt or extra packet(s) available
    while (!mpuInterrupt && fifoCount < packetSize) {
      Serial.println("HOLD");
        // other program behavior stuff here
        // .
        // .
        // .
        // if you are really paranoid you can frequently test in between other
        // stuff to see if mpuInterrupt is true, and if so, "break;" from the
        // while() loop to immediately process the MPU data
        // .
        // .
        // .
    }

    // reset interrupt flag and get INT_STATUS byte
    mpuInterrupt = false;
    mpuIntStatus = mpu.getIntStatus();

    // get current FIFO count
    fifoCount = mpu.getFIFOCount();
    
    // check for overflow (this should never happen unless our code is too inefficient)
    if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
        // reset so we can continue cleanly
        mpu.resetFIFO();
        Serial.println(F("FIFO overflow!"));
        
    // otherwise, check for DMP data ready interrupt (this should happen frequently)
    } else if (mpuIntStatus & 0x02) {
        // wait for correct available data length, should be a VERY short wait
        while (fifoCount < packetSize){
          
          //Serial.print(packetSize);
          fifoCount = mpu.getFIFOCount();
        }

        // read a packet from FIFO
        mpu.getFIFOBytes(fifoBuffer, packetSize);
        
        // track FIFO count here in case there is > 1 packet available
        // (this lets us immediately read more without waiting for an interrupt)
        fifoCount -= packetSize;

            // display real acceleration, adjusted to remove gravity
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetAccel(&aa, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
            Serial.print("areal\t");
            Serial.print(aaReal.x);
            Serial.print("\t");
            Serial.print(aaReal.y);
            Serial.print("\t");
            Serial.println(aaReal.z);


        // blink LED to indicate activity
        //blinkState = !blinkState;
        //digitalWrite(LED_PIN, blinkState);
    }
    #endif

    */
    #ifdef IRSENSORS

    if(digitalRead(frontSensorPinDown)){
      moveBackward(responseTime, true );
      //Serial.println("frontSensorPinDown");
    }

    if(digitalRead(leftSensorPinDown)){
      pivotRightF(responseTime, true );
      //Serial.println("leftSensorPinDown");
    }

    if(digitalRead(rightSensorPinDown)){
      pivotLeftF(responseTime, true );
      //Serial.println("rightSensorPinDown");
    }
    

    
    //put sensor movement code here
    
    
    
    
    #endif
    
}
#define MOTORS_ON
void loop() {
  doDMP();
  //motorsStop(3000);
  doDMP();
  //wiggleForward(aRandomNumber(),200);
  doDMP();
  //motorsStop(1000);
  doDMP();
  #ifdef MOTORS_ON
  //wiggleBackward(1000,200);
  doDMP();
  motorsStop(1000);
  doDMP();
  moveForward(aRandomNumber(), false);
  doDMP();
  moveBackward(aRandomNumber(),false);
  doDMP();
  spinRight(aRandomNumber());
  doDMP();
  motorsStop(aRandomNumber());
  doDMP();
  spinLeft(aRandomNumber());
  doDMP();
  motorsStop(1000);
  doDMP();
  pivotLeftF(aRandomNumber(),false);
  doDMP();
  motorsStop(1000);
  doDMP();
  pivotRightF(aRandomNumber(),false);
  doDMP();
  motorsStop(1000);
  doDMP();
  pivotLeftB(aRandomNumber());
  doDMP();
  motorsStop(1000);
  doDMP();
  pivotRightB(aRandomNumber());
  doDMP();
  motorsStop(1000);
  #endif
  doDMP();
}
[/td]
[/tr]

You are already using the serial monitor to display some stuff. Use it to display the values in the the things you think may be a problem until you find the culprit!

Paul