   }
   gyroCorrect = cur / 10.0;
   
-  X_calibration /= 10;
+  Y_calibration /= 10;
 
   timeUp = false;
   timeout.begin(timedOut, 1001000 * spaces);

  int Z_threshold = 0;
  uint8_t count = 0;
  bool crossing = false;
  int X_calibration = 0;
  uint8_t countdown = 5;
  elapsedMillis mils;
  elapsedMillis speedAdjust;

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