   }
 }
 
-
+*/
+/*
+if(quadCheck(Leveled,ultrasonic1,ultrasonic2)==0){
+    Serial.println("NOT in any quadrant");
+    delay(300);
+  }
+if (quadCheck(Leveled,ultrasonic1,ultrasonic2)>= 1 || quadCheck(Leveled,ultrasonic1,ultrasonic2)<= 4){
+      
+      Serial.print("Were in quadrant ");Serial.print(quadCheck(Leveled,ultrasonic1,ultrasonic2));
+          if (obstacleCheck(ultrasonic3)== 0){
+              Serial.println(" I dont see an obstacle");
+                  delay(300);
+            }
+           else if(obstacleCheck(ultrasonic3)>= 1 || obstacleCheck(ultrasonic3)<= 3){
+              Serial.print(" I see obstacle ");Serial.println(obstacleCheck(ultrasonic3));
+              delay(300);
+            }
+    }
+*/

//Recently commented below
//Serial.print("delta_heading: "); Serial.println(delta_heading);

if(ultrasonic1.Ranging(CM)<= 304.8 && ultrasonic2.Ranging(CM)>= 304.8){ //You are in the grid 
  if(ultrasonic1.Ranging(CM)<= 152.4){ //You are in left-half of grid
    if(ultrasonic2.Ranging(CM) <= 457.2){ //Y is reading from bottom wall 457.2 is 15 ft

int quadColor;
//I commented
//Lawrence Commented

Ultrasonic ultrasonic1(13,12); //X sensor
Ultrasonic ultrasonic2(11,10); //Y Sensor
