 #include <Adafruit_BNO055.h>
 #include <EasyTransfer.h>
 
+/** Edit these to tune navigation */
 //Minimumn distance in meters to waypoint
 #define MIN_DISTANCE 2
+//Degrees off course before turn begins
+#define MAX_TURN_RANGE 10
+//Degrees off course before turn ends
+#define TURNING_TURN_RANGE 5
+//Turn range will never go below this value
+#define MIN_TURN_RANGE 5
+//Meters - below this distance turns will be MIN_TURN_RANGE
+#define CONSTRAIN_MIN 0
+//Meters - below this distance turns will start to become tighter moving from MAX_TURN_RANGE to MIN_TURN_RANGE
+#define CONSTRAIN_MAX 100
+//Speed of motors from -127 to 127
+#define MOTOR_SPEED 70
 
 //Turn directions
 #define TURN_LEFT 1

 */
 void left(){
  dataStruct.tar = 20;
  dataStruct.val = 65;
  etData.sendData();
  dataStruct.tar = 21;
  dataStruct.val = -65;
  etData.sendData();
  Serial.print("left ");
 }

 */
 void right(){
  dataStruct.tar = 20;
  dataStruct.val = -mSpeed;
  etData.sendData();
  dataStruct.tar = 21;
  dataStruct.val = mSpeed;
  etData.sendData();
  Serial.print("right ");
 }
