int our_color;

float orient() {
  while(!lightrdy) {defer();}
  our_color=detect_our_color();
  if(leftlight!=our_color)
    return 1.8; /* Right */
  else if(rightlight!=our_color) {
    turn_dist(1,7,0.);
    return 2.1; /* Up */
  } else if(backlight!=our_color) {
    drive_dist(0,12,0.);
    stop();
    turn_dist(1,17,0.);
    return 2.9; /* Left */
  } else {
    turn_dist(0,6,0.);
    return 2.0; /* Down */
  }
}

int detect_our_color() {
  return((rightlight+leftlight+backlight)>1);
}