 
 		if (flag == 0)
 		{
-			turn('R', SPEED_TURN, 300);
-			path[pathCounter++] = 'D';
+			turn('R', SPEED_TURN, 130);
+			path[pathCounter++] = 'R';
 			BLUETOOTH.println(path[pathCounter - 1]);
 			flag = 1;
 			return;

	{
		switch (path[i])
		{
		case 'D':
			simplifiedPath[sCounter++] = 'C';
			break;
		case 'C':
			simplifiedPath[sCounter++] = 'D';
			break;
		case 'L':
			simplifiedPath[sCounter++] = 'R';
			break;
		case 'R': 
			simplifiedPath[sCounter++] = 'L';
			break;
		}

	}



	simplifiedPath[sCounter++] = 'J';
	simplifiedPath[sCounter] = '\0';

	for (i = 3; i < sCounter; i++)
	{
		if (simplifiedPath[i] == 'L' && simplifiedPath[i + 1] == 'L' && simplifiedPath[i + 2] == 'L' && simplifiedPath[i + 3] == 'L' && simplifiedPath[i + 4] == 'R')
		{
			simplifiedPath[i] = 'R';
			simplifiedPath[i + 1] = 'R';
			simplifiedPath[i + 2] = 'L';
			simplifiedPath[i + 3] = 'O';
			simplifiedPath[i + 4] = 'O';


		}
		if (simplifiedPath[i] == 'R' && simplifiedPath[i + 1] == 'R' && simplifiedPath[i + 2] == 'R' && simplifiedPath[i + 3] == 'R' && simplifiedPath[i + 4] == 'L')
		{
			simplifiedPath[i] = 'L';
			simplifiedPath[i + 1] = 'L';
			simplifiedPath[i + 2] = 'R';
			simplifiedPath[i + 3] = 'O';
			simplifiedPath[i + 4] = 'O';


		}
	}
	sCounter = 0;
	/*while (1)
		{

		BLUETOOTH.println(path);
		BLUETOOTH.println(" :) ");
		BLUETOOTH.println(simplifiedPath);
		}*/

	/*LED_LEFT_ON;
	LED_RIGHT_ON;*/

	while (1)
	{

		unsigned char foundLeft = 0, foundStraight = 0, foundRight = 0;
		SPEED_MAX = 2040;
		followSegment();

		position_ = readSensors();
