 
 void moveMotor()
 {
-  leftMotor.Set(int(target_vel[0] * 100));
-  rightMotor.Set(int(target_vel[1] * 100));
+  leftMotor.Set(-1*target_vel[0]);
+  rightMotor.Set(target_vel[1]);
+  //Serial.print(target_vel[0]);
+  //Serial.println(target_vel[1]);
 }
 
 void getGPS(){

#include <NewPing.h>
#include <TinyGPS++.h>
#include <SoftwareSerial.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_HMC5883_U.h>

int gamemode = 1; // Enables the FRCmotor library

//Magnometer
Adafruit_HMC5883_Unified mag = Adafruit_HMC5883_Unified(12345);
double compass_theta= 0;

//Compass
static const int RXPin = 11, TXPin = 12;

/*
Magnometer: VIN: 3.3V  SDA: 20  SCL: 21
Compass: VIN: 3.3V  RX: 11  TX: 12
sonar_value: Top from l to r: 24,26,28,30
        botton from l to r: 22,23,25,27,29
Motor - R: 9  L: 10

*/
///////////////////////////////////////////////
