       perLeftDist = leftPerIR.getDist();
 
       //attack code with sensors
-      if (expectedVelL > getVelL() + hallTimeThresh || expectedVelR > getVelR() + hallTimeThresh) {
-        if (!pastStalled){
-          stalled = cur;
-          pastStalled = true;
-        } else if (cur - stalled > stallThresh) {
+      if (past == 'f' && attackCount < 50) {
+        // if (!pastStalled){
+        //   stalled = cur;
+        //   pastStalled = true;
+        // } else if (cur - stalled > stallThresh) {
           state = 12;
           pivotFlag = true;
-        }   
-      } else if (pastStalled) {
-        pastStalled = false;
-      }
+        // }   
+      } 
+      // else if (pastStalled) {
+      //   pastStalled = false;
+      // }
 
       if (!pivotFlag) { // first check if the robot hasn't pivoted in the past (if it has, don't do any of the actions below)
         if (past == 'f' && pastNear && attackCount < 100) {

  R_ESC.writeMicroseconds(1500);
  L_ESC.writeMicroseconds(1500);

  pinMode(L_Hall, INPUT);
  pinMode(R_Hall, INPUT);

  // basic start module: wait 5s after pressing start
  // IMPLEMENT ON/OFF functionality

int pivotSpinR = 1000; // time spinning right at pivot
int pivotTurnL = 1000; // time turning left at pivot
int pivotSpinL = 1000; // time spinning left at pivot
// int stallThresh = 500; // time stalled
// int hallTimeThresh = 100;

// max and minimum motor speeds
int maxS = 200;
