def METHOD_NAME():
    """
    Handle the BACKWARD state.
    In this state we have run into a wall in front of us, we need to go backward
    until the wall is far enough.
    """
    setMotors(-MAX_SPEED, -MAX_SPEED)
    updateDistances()
    if (distance[2] > MIN_WALL_THRESHOLD and
       distance[3] > MIN_WALL_THRESHOLD and
       distance[4] > MIN_WALL_THRESHOLD and
       distance[5] > MIN_WALL_THRESHOLD):
        return ST_RIGHT