 
 
 		char direction = selectTurn(foundLeft, foundRight, foundStraight);
-		turn(direction, SPEED_TURN, 200);
+		turn(direction, SPEED_TURN, 250);
 
 		// L 90 Turn OR R 90 Turn
 		if ((foundLeft || foundRight) && !foundStraight)

		}

		// R 90 Junction
		if (!foundLeft && foundRight && !foundStraight)
		{
			LED_RIGHT_ON;
			LED_LEFT_ON;

		if (FOUND_RIGHT())
			foundRight = 1;

		delay(40);
		position_ = readSensors();

		if (FOUND_STRAIGHT())
			foundStraight = 1;
