 float orbit_l = 0.5;
 float orbit_k = 1.0;
 int16_t targetDir;
+int16_t lDir;
 int16_t targetDir_r_field;
 uint8_t targetVelocity;
+
+/**********************************************************/
+/*				         Phasing   						  */
+/**********************************************************/
+
 
 /**********************************************************/
 /*                    Face forwards                       */

		if (spinMode){
			backspinSpeed = 255;
		}
		Slave3.moveRobot((uint8_t)(targetDir * 255/360), targetVelocity, rotationCorrection);
		Slave3.moveMotorE(backspinSpeed);

		ledBlink();
		/* debugging */

		serialDebug();
		if (loopCount % 30 == 0){
			if (tftEnabled){
				debugTFT();

	// begin i2c at 400kHz
	Wire.begin(I2C_MASTER, 0x00, I2C_PINS_18_19, I2C_PULLUP_EXT, I2C_RATE_400);
	Wire.setDefaultTimeout(1000);

	SPI.setSCK(14);
	SPI.begin();	

