 		hDrive(0.0, 0.0, swagSpeed);
 		while (rightUltrasonic.getDistance() > 2.5) { }
 		hDrive(0.0, 0.0, 0.0);
-  // } else if(rightInner || rightOuter && !frontTriggered) {
-		// hDrive(-swagSpeed, 0.0, 0.0);
-		// delay(100);
+   }  if(rightInner  ) {
+		 hDrive(-swagSpeed, 0.0, 0.0);
+		 delay(1000);
     // turnToAngle(-15, swagSpeed);
   // } else if(leftInner || leftOuter && !frontTriggered) {
 		// hDrive(-swagSpeed, 0.0, 0.0);

Ultrasonic leftArrayOutter(32, 33, true);//orange

Ultrasonic rightArrayInner(36, 37, true);//orange
Ultrasonic rightArrayOutter(38, 39, true);//black

void ultrasonicArrayCheck();

MPU6050 mpu; // Default address 0x68

}

void turnToAngle(double targetAngle, double speed) {
  // resetGyro('z');
  resetEncoders();
  hDrive(0.0, speed, 0.0);
  
  while (abs(getAngle()) < abs(targetAngle)) {
    Serial.println(getAngle());
  }
  
  hDrive(0.0, 0.0, 0.0);
