 
 /*---------------------------------------------------------------------------------------*/
 //circleRoutine
-void circleRoutine(unsigned long seconds, unsigned long &results) {
-  results = HIGH;
+void circleRoutine(unsigned long seconds, unsigned long &rcAuto) {
+  rcAuto = HIGH;
   
   steer(LEFT_TURN_OUT);
   delay(1000);

  while (millis() < (loopTime + seconds)) {
    moveVehicle(128);
  }
  results = LOW;
}
/*---------------------------------------------------------------------------------------*/
//squareRoutine
void squareRoutine(unsigned long sides, unsigned long &results) {
  Serial.println("Starting square routine...");
  results = HIGH;
  long straightSpeed = 128;        //mmPs
  long turnSpeed = 96;            //mmPs
  sides = sides * 1000;             //convert side length to mm
  unsigned long sideSec = sides / straightSpeed;  //calculate seconds per side at set speed
  sideSec = sideSec * 1000;         //convert to ms
  unsigned long loopTime;           //start time of while loops for throttle
  for(int i = 0; i < 4; i++){
    //steer(LEFT_TURN_OUT);
    steer(STRAIGHT_TURN_OUT);

  results[RC_ESTP] = (results[RC_ESTP] > MIDDLE ? HIGH : LOW);

  if (results[RC_ESTP] == HIGH){
    Serial.println("Exiting processRC due to E-stop.");
    E_Stop();  // already done at interrupt level
    if ((results[RC_AUTO] == LOW)  && (NUMBER_CHANNELS > 5)) // under RC control
      ;//steer(results[RC_TURN]);
    return 0x00;
  }

