 			leftTurns++;
 		}
 	} else if (leftTriggered && !frontTriggered) {
-		hDrive(swagSpeed - 0.2, -swagSpeed, 0.0);
+		// hDrive(swagSpeed - 0.2, -swagSpeed, 0.0);
+		turnToAngle(2, -swagSpeed);
 	} else if (rightTriggered && !frontTriggered) {
-		hDrive(swagSpeed - 0.2, swagSpeed , 0.0);
+		//hDrive(swagSpeed - 0.2, swagSpeed , 0.0);
+		turnToAngle(-2, swagSpeed);
 	} else if (frontTriggered && !rightTriggered & !leftTriggered){
 		hDrive(-swagSpeed, 0.0, 0.0);
 		delay(50);

	// }
	
	while(!foundFlame && digitalRead(flame_sensor)) {
		naviguessMaze(0.3);
	}
	
	foundFlame = true;


void followWall(double targetDistance) {
	if (rightUltrasonic.getDistance() < targetDistance) {
		tankDrive(0.6, 0.3, 0.0);
	} else if (rightUltrasonic.getDistance() > targetDistance) {
		tankDrive(0.3, 0.6, 0.0);
	} else {
		tankDrive(0.6, 0.6, 0.0);
	}
