  */
  void left(){
   dataStruct.tar = 20;
-  dataStruct.val = 65;
+  dataStruct.val = mSpeed;
   etData.sendData();
   dataStruct.tar = 21;
-  dataStruct.val = -65;
+  dataStruct.val = -mSpeed;
   etData.sendData();
   Serial.print("left ");
  }

   } else {
     //Navigate to the way point
     //Adjust max amount to be off course
     int highTurnRange = 35;
     if(turning){
       highTurnRange = 10;
     } 
     
     //Base turning range off of distance
     int turnRange = constrain(map(distance, 0, 100, 5, 50), 5, highTurnRange);     
     int turndirection = getdirection(currentHeading, destheading);

     if(abs(currentHeading - destheading) < turnRange){

 */
 void forward(){
  dataStruct.tar = 20;
  dataStruct.val = mSpeed / 2;
  etData.sendData();
  dataStruct.tar = 21;
  dataStruct.val = -mSpeed / 2;
  etData.sendData();
  Serial.print("forward ");
 }
