 
   wheel_right.write(right_mapped);
   wheel_left.write(left_mapped);
-
+  head_dir.update(90 - dir);
+  head.write(head_dir.getValue());
 }
 
 int map_speed(int v, int mi, int zero, int ma)

int right_rw_max = 130;
int right_mapped = right_zero;

int speed = 0;
int dir = 0;
int more_space = 0;


  wheel_left.attach(MOTOR_OUT_L);
  wheel_right.attach(MOTOR_OUT_R);
  head.attach(MOTOR_OUT_HEAD);

  pinMode(DEBUGGER_ATTACHED_PIN, INPUT_PULLUP);
  delay(100);
