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

    
    loopTime = millis();
    while (millis() < (loopTime + sideSec)) {
      moveVehicle(straightSpeed);
    }
    
    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);
    }
  }
  results = LOW;
}
/*---------------------------------------------------------------------------------------*/
void startCapturingRCState(){

  while (millis() < (loopTime + seconds)) {
    moveVehicle(128);
  }
  rcAuto = LOW;
}
/*---------------------------------------------------------------------------------------*/
//squareRoutine
void squareRoutine(unsigned long sides, unsigned long &rcAuto) {
  Serial.println("Starting square routine...");
  rcAuto = HIGH;
  long straightSpeed = 2750;        //mmPs
  long turnSpeed = 1400;            //mmPs
  sides = sides * 1000;             //convert side length to mm
  unsigned long sideSec = sides / straightSpeed;  //calculate seconds per side at set speed
  sideSec = sideSec * 1000;         //convert to ms
  unsigned long loopTime;           //start time of while loops for throttle
  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
  for(int i = 0; i < 4; i++){
    //steer(LEFT_TURN_OUT);
    steer(STRAIGHT_TURN_OUT);
