 
 	case 'R':
 		LED_RIGHT_ON;
-		LED_LEFT_OFF;
+		//LED_LEFT_OFF;
 		motorLeft.write(speed);
 		motorRight.write(-speed);
 		delay(delayTime);


		motorLeft.write(512);
		motorRight.write(512);


		unsigned char foundLeft = 0, foundStraight = 0, foundRight = 0;



		char direction = selectTurn(foundLeft, foundRight, foundStraight);
		turn(direction, SPEED_TURN, 250);

		// L 90 Turn OR R 90 Turn
		if ((foundLeft || foundRight) && !foundStraight)
