    for (int i = 0; i < 10; i++)
   {
     lsm.getEvent(&accel, &mag2, &gyro, &temp);
-    X_calibration += mag2.magnetic.x;
+    Y_calibration += mag2.magnetic.y;
     delay(10);
   }
 

        right.write(rightBackwardSpeed + turnBoost);
      }
    }
    else if (mag2.magnetic.x > (X_calibration - drift_threshold_backup))
    {
      #ifdef debug
        Serial.println("Turn left");

      right.write(rightBackwardSpeed);
      left.write(leftBackwardSpeed - turnBoost);
    }
    else if (mag2.magnetic.y < (Y_calibration + drift_threshold_backup))
    {
      #ifdef debug
        Serial.println("Turn right");
