Short Ride & Derailleur Problem

Yesterday I was at 9 miles into my ride when I shifted gears and the rear derailleur made a lot of noise when shifting. I tried to adjust it but no luck. After I mount the new idlers I will bring the trike to my LBS to see if they can adjust it. I think it is a case of me not knowing how to adjust it properly. The problem seems to be with the 3 smaller cogs, but I can be wrong. Not sure if I will get out and ride today do to the possibility of rain. I will post an update if anything changes.