 	if (ri == -1) {
 		ri = colour_sensor.getColor('r');
 	}
+	
+	// turnToAngle(90, -0.3);
+	// delay(2000);
+	// turnToAngle(90, 0.3);
+	// delay(2000);
   
 	while((colour_sensor.getColor('r') > ri - 70)) {
 		naviguessMaze(0.3);

}

void turnToAngle(double targetAngle, double speed) {
	resetEncoders();
  while (abs(getAngle()) < abs(targetAngle)) {
    hDrive(0.0, speed, 0.0);
  }
  hDrive(0.0, 0.0, 0.0);
}


}

double getAngle() {
  return (180 / PI) * (getDistanceLeft() - getDistanceRight()) / 11.5;
}

double getDistanceLeft() {
