void find_orientation ()
{
	int front_left, front_right, rear_left, rear_right;
	int black_count = 0;

	front_left  = get_analog(LEFT_FRONT_LIGHT, 3);
	front_right = get_analog(RIGHT_FRONT_LIGHT, 3);
	rear_left   = get_analog(LEFT_REAR_LIGHT, 3);
	rear_right  = get_analog(RIGHT_REAR_LIGHT, 3);


	if (front_left < THRESHOLD_1) {
		front_left = WHITE;
	} else {
		front_left = BLACK;
		black_count++;
	}
	if (front_right < THRESHOLD_2) {
		front_right = WHITE;
	} else {
		front_right = BLACK;
		black_count++;
	}
	if (rear_left < THRESHOLD_3) {
		rear_left = WHITE;
	} else {
		rear_left = BLACK;
		black_count++;
	}
	if (rear_right < THRESHOLD_4) {
		rear_right = WHITE;
	} else {
		rear_right = BLACK;
		black_count++;
	}

	if (black_count > 2) {
		team = BLACK;
		if (front_left == WHITE) {
			orientation = NORTH;
		} else if (front_right == WHITE) {
			orientation = WEST;
		} else if (rear_left == WHITE) {
			orientation = EAST;
		} else {
			orientation = SOUTH;
		}
	} else {
		team = WHITE;
		if (front_right == BLACK) {
			orientation = NORTH;
		} else if (rear_right == BLACK) {
			orientation = EAST;
		} else if (front_left == BLACK) {
			orientation = WEST;
		} else {
			orientation = SOUTH;
		}
	}
}

void orient ()
{
	if (team == BLACK) {
		if (orientation == NORTH) {
			turn_left(90);
		} else if (orientation == EAST) {
			drive_ticks(1,100);
			turn_180(0);
		} else if (orientation == SOUTH) {
			turn_right(90);
		} else if (orientation == WEST) {
			/* do nothing */
		}
	} else {
		if (orientation == NORTH) {
			turn_right(90);
		} else if (orientation == EAST) {
			drive_ticks(1,100);
			turn_180(1);
		} else if (orientation == SOUTH) {
			turn_left(90);
		} else if (orientation == WEST) {
			/* do nothing */
		}
	}
	center_servos();
}