 		if (FOUND_RIGHT())
 			foundRight = 1;
 
-		delay(60);
+		delay(40);
+		position_ = readSensors();
 
 		if (FOUND_STRAIGHT())
 			foundStraight = 1;


		motorLeft.write(512);
		motorRight.write(512);


		unsigned char foundLeft = 0, foundStraight = 0, foundRight = 0;


	case 'R':
		LED_RIGHT_ON;
		//LED_LEFT_OFF;
		motorLeft.write(speed);
		motorRight.write(-speed);
		delay(delayTime);
