 		hDrive(-swagSpeed, 0.0, 0.0);
 		delay(50);
 		// hDrive(0.0, swagSpeed , 0.0);
-		turnToAngle(90, swagSpeed);
+		turnToAngle(90, -swagSpeed);
 	} else if (rightTriggered && frontTriggered) {
 		hDrive(-swagSpeed, 0.0, 0.0);
 		delay(50);
 		// hDrive(0.0, -swagSpeed , 0.0);
-		turnToAngle(-90, -swagSpeed);
+		turnToAngle(-90, swagSpeed);
 	} else if (leftTriggered && !frontTriggered) {
-		hDrive(swagSpeed - 0.2, swagSpeed, 0.0);
+		hDrive(swagSpeed - 0.2, -swagSpeed, 0.0);
 	} else if (rightTriggered && !frontTriggered) {
-		hDrive(swagSpeed - 0.2, -swagSpeed , 0.0);
+		hDrive(swagSpeed - 0.2, swagSpeed , 0.0);
 	} else if (frontTriggered && !rightTriggered & !leftTriggered){
 		hDrive(-swagSpeed, 0.0, 0.0);
 		delay(50);
 		turnToAngle(45, swagSpeed);
 	} else if (backTriggered) {
-		hDrive(-swagSpeed, -swagSpeed, 0.0);
+		hDrive(-swagSpeed, swagSpeed, 0.0);
 	} else {
-		hDrive(swagSpeed, swagSpeed , 0.0);
+		hDrive(swagSpeed, -swagSpeed , 0.0);
 	}
 	
 	delay(50);

}

void turnToAngle(double targetAngle, double speed) {
	resetEncoders();
  while (abs(getAngle()) < abs(targetAngle)) {
    hDrive(0.0, speed, 0.0);
  }
  hDrive(0.0, 0.0, 0.0);
}


	if (ri == -1) {
		ri = colour_sensor.getColor('r');
	}
	
	// turnToAngle(90, -0.3);
	// delay(2000);
	// turnToAngle(90, 0.3);
	// delay(2000);
  
	while((colour_sensor.getColor('r') > ri - 70)) {
		naviguessMaze(0.3);
