 
 // The closer we get to our driving angle, the slower we will turn.
 // We do not want to overshoot our direction.
-// turnLeft(), takes in the ideal speed and refactors it accordingly to how close
+// turnLeft() takes the ideal speed and refactors it accordingly to how close
 // the zumo is pointing towards the direction we want to drive.
 void turnLeft(int refactor)
 {


// The closer we get to our driving angle, the slower we will turn.
// We do not want to overshoot our direction.
// turnRight(), takes in the ideal speed and refactors it accordingly to how close
// the zumo is pointing towards the direction we want to drive.
void turnRight(int refactor)
{

  motors.setLeftSpeed(-SPEED*adjust - 100);
}

// Converts x and y components of a vector to a heading in degrees
int heading(LSM303::vector v)
{
  float xScaled =  2.0*(float)(v.x - compass.m_min.x) / ( compass.m_max.x - compass.m_min.x) - 1.0;
  float yScaled =  2.0*(float)(v.y -  compass.m_min.y) / (compass.m_max.y - compass.m_min.y) - 1.0;
  
  int angle = round(atan2(yScaled, xScaled)*180 / M_PI);
  if (angle < 0)
