   {
     if(driftingLeft) {
       leftSpeed = SPEED;
-      rightSpeed = 70;
+      rightSpeed = MIN_SPEED;
     }
     else if(driftingRight) {
       rightSpeed = SPEED;
-      leftSpeed = 70;
+      leftSpeed = MIN_SPEED;
     }
   }
 

    driftingLeft = true;
    driftingRight = false;
    
    rightSpeed -= SPEED_ADJUSTMENT;
  }

  // drift right

}

void driveLeftForward(int speed) {
  motors.leftMotor(-0.9 * speed);
}

void driveLeftBackward(int speed) {
  motors.leftMotor(0.9 * speed);
}

void driveRightForward(int speed) {
