     
     loopTime = millis();
     while (millis() < (loopTime + sideSec)) {
-      moveVehicle(straightSpeed);
+      moveVehicle(112);
     }
     
     steer(LEFT_TURN_OUT);
     delay(100);
 
-    float turnDist = TURN_RADIUS_CM * PI / 2 * 10; //turnDist == 1/4 turn circumference in mm
-    unsigned long turnSec = (long)turnDist / turnSpeed * 1000; //turnSec == time for 90-degree turn at 1250 mmPs
+    
 
     loopTime = millis();
     while (millis() < (loopTime + turnSec)) {
-      moveVehicle(turnSpeed);
+      moveVehicle(96);
     }
   }
-  results = LOW;
+  rcAuto = LOW;
 }
 /*---------------------------------------------------------------------------------------*/
 void startCapturingRCState(){


/*---------------------------------------------------------------------------------------*/
//circleRoutine
void circleRoutine(unsigned long seconds, unsigned long &results) {
  results = HIGH;
  
  steer(LEFT_TURN_OUT);
  delay(1000);

  }
  else if(doRoutine(results[RC_RDR])){
    moveVehicle(MIN_ACC_OUT);
    squareRoutine(5, results[RC_AUTO]);
  }
  else {
    moveVehicle(MIN_ACC_OUT);
