 
 // The closer we get to our driving angle, the slower we will turn.
 // We do not want to overshoot our direction.
-// turnLeft(), takes in the ideal speed and refactors it accordingly to how close
+// turnLeft() takes the ideal speed and refactors it accordingly to how close
 // the zumo is pointing towards the direction we want to drive.
 void turnLeft(int refactor)
 {

  Serial.print(heading);
  Serial.print("    Difference: ");
  Serial.print(relHeading);

  
  // We now want to turn 90 degrees relative to the direction we are pointing at.
  // This will help account for variable magnetic field.
  
  // We want to take a relative heading and turn 90 degrees to make our right turn
  if((relHeading < DEVIATE_RIGHT_THRESHOLD) || (relHeading > DEVIATE_LEFT_THRESHOLD))
  {
    motors.setSpeeds(SPEED, SPEED);

    Serial.print("   Straight");

      delay(1000);
      
      motors.setSpeeds(0, 0);
      delay(100);
      
      // We now want to turn 90 degrees relative to the direction we are pointing at.
      // This will help account for variable magnetic field.
      targetHeading = (averageHeading() + 90) % 360;
  } 
  else 
  {

  }
  avg.x /= 10.0;
  avg.y /= 10.0;

  // avg is the average measure of the north vector.
  return heading(avg);    
}