void calibrateRight90() {
  int calibrated = 0;
  right90ticks = 73;
  printf("\ncalibrate right 90");
  while(!start_button()) {
      sleep(.1);
  }
  while (!calibrated) {
    printf("\n%d ticks", right90ticks);
    while(!start_button()) {
      sleep(.1);
    }
    right90(0);
    sleep(.5);
    right90(0);
    printf("\nstart-keep  stop-cont");
    while (!start_button() && !stop_button()) {
      sleep(.1);
    }
    if (start_button()) calibrated = 1;
    right90ticks += 2;
  }
  printf("\nset at %d", right90ticks);
  while(!start_button()) {
    sleep(.1);
  }
}

void calibrateLeft90() {
  int calibrated = 0;
  left90ticks = 75;
  printf("\ncalibrate left 90");
  while(!start_button()) {
      sleep(.1);
  }
  while (!calibrated) {
    printf("\n%d ticks", left90ticks);
    while(!start_button()) {
      sleep(.1);
    }
    left90(0);
    sleep(.5);
    left90(0);
    printf("\nstart-keep  stop-cont");
    while (!start_button() && !stop_button()) {
      sleep(.1);
    }
    if (start_button()) calibrated = 1;
    left90ticks += 2;
  }
  printf("\nset at %d", left90ticks);
  while(!start_button()) {
    sleep(.1);
  }
}

void calibrateRight180() {
  int calibrated = 0;
  right180ticks = 160;
  printf("\ncalibrate right 180");
  while(!start_button()) {
      sleep(.1);
  }
  while (!calibrated) {
    printf("\n%d ticks", right180ticks);
    while(!start_button()) {
      sleep(.1);
    }
    right180(0);
    printf("\nstart-keep  stop-cont");
    while (!start_button() && !stop_button()) {
      sleep(.1);
    }
    if (start_button()) calibrated = 1;
    right180ticks += 3;
  }
  printf("\nset at %d", right180ticks);
  while(!start_button()) {
    sleep(.1);
  }
}

void calibrateLeft180() {
  int calibrated = 0;
  left180ticks = 160;
  printf("\ncalibrate left 180");
  while(!start_button()) {
      sleep(.1);
  }
  while (!calibrated) {
    printf("\n%d ticks", left180ticks);
    while(!start_button()) {
      sleep(.1);
    }
    left180(0);
    printf("\nstart-keep  stop-cont");
    while (!start_button() && !stop_button()) {
      sleep(.1);
    }
    if (start_button()) calibrated = 1;
    left180ticks += 3;
  }
  printf("\nset at %d", left180ticks);
  while(!start_button()) {
    sleep(.1);
  }
}

void calibrateStraight() {
  int calibrated = 0;
  printf("\ncalibrate straight");
  while(!start_button()) {
      sleep(.1);
  }
  while (!calibrated) {
    forwardUntilHitTimeout((long) 3000);
    printf("\nright? start-Y stop-N");
    while (!start_button() && !stop_button()) {
      sleep(.1);
    }
    if (start_button()) {
      /*going to the right*/
      straight += 20;
    }
    else {
      printf("\nleft? start-Y stop-N");
      sleep(.5);
      while (!start_button() && !stop_button()) {
	sleep(.1);
      }
      if (start_button()) {
	/*going to the left*/
	straight -= 20;
      }
      else {
	/*going straight*/
	printf("\ngood? start-Y stop-N");
	sleep(.5);
	while (!start_button() && !stop_button()) {
	  sleep(.1);
	}
	if (start_button()) {
	  break;
	}
      }
    }
  }
  printf("\nstraightened out!");
  while(!start_button()) {
    sleep(.1);
  } 
}