int TOBackupCountTicks(int ticks, long timeout_ms) {
  int to = 1;
  int count = 0;
  while (to && count < 2) { /*if times out tried no more than 3 times*/
    if (backRightHit() || backSideRightHit()) {
      forwardCountTicksUntilTimeout(25, (long) 2000, 0);
      sleep(.25);
      right90(-right90ticks/2);
      forwardIntoWall((long) 3000);
      to = backwardCountTicksUntilTimeout(ticks, timeout_ms);
      }
    else if (backLeftHit() || backSideLeftHit()) {
      forwardCountTicksUntilTimeout(25, (long) 2000, 0);
      sleep(.25);
      left90(-left90ticks/2);
      forwardIntoWall((long) 3000);
      to = backwardCountTicksUntilTimeout(ticks, timeout_ms);

    }
    else {
      forwardCountTicksUntilTimeout(50, (long) 2000, 1);
      to = backwardCountTicksUntilTimeout(ticks, timeout_ms);
    }
    count++;
  }
  return count;
}

int TOTurn90(int dev) {
  int to = 1;
  int count = 0;
  if (side == 1) {
    while (to && count < 2) {
      printf("\ntimed out!!!");
      if (backRightHit() || backSideRightHit()) {
	forwardCountTicksUntilTimeout(25, (long) 2000, 0);
	sleep(.25);
	to = left90(-left90ticks*2/3);
      }
      else if (backLeftHit() || backSideLeftHit()) {
	forwardCountTicksUntilTimeout(25, (long) 2000, 0);
	sleep(.25);
	to = left90(-left90ticks/2);
      }
      else if (frontRightHit() || frontSideRightHit()) {
	backwardCountTicksUntilTimeout(25, (long) 2000);
	sleep(.25);
	to = left90(-right90ticks*2/3);
      }
      else {
	right90(-right90ticks/2);
	sleep(.25); 
	backwardCountTicksUntilTimeout(125, (long) 3000);
	sleep(.25);
	left90(-left90ticks/3);
	sleep(.25);
	forwardUntilHitTimeout((long) 2000);
	sleep(.25);
	backwardCountTicksUntilTimeout(25, (long) 3000);
	sleep(.25);
	to = left90(3);
      }
      count++;
    }
    if (count > 2) {
      lost();
    }
  }
  else if (side == 0) {
    while (to && count < 2) {
      printf("\ntimed out!!!");
      if (backRightHit() || backSideRightHit()) {
	forwardCountTicksUntilTimeout(25, (long) 2000, 0);
	sleep(.25);
	to = right90(-right90ticks/2);
      }
      else if (backLeftHit() || backSideLeftHit()) {
	forwardCountTicksUntilTimeout(25, (long) 2000, 0);
	sleep(.25);
	to = right90(-right90ticks*2/3);
      }
      else if (frontLeftHit() || frontSideLeftHit()) {
	backwardCountTicksUntilTimeout(25, (long) 2000);
	sleep(.25);
	to = right90(-right90ticks*2/3);
      }
      else {
	left90(-left90ticks/2);
	sleep(.25); 
	backwardCountTicksUntilTimeout(125, (long) 3000);
	sleep(.25);
	right90(-right90ticks/3);
	sleep(.25);
	forwardUntilHitTimeout((long) 2000);
	sleep(.25);
	backwardCountTicksUntilTimeout(25, (long) 3000);
	sleep(.25);
	to = right90(3);
      }
      count++;
    } /*while*/
    if (count > 2) {
      lost();
    }
  }
}

int TOForwardCountTicks(int ticks, long timeout_ms, int hit) {
  /*hit - 1 means call forwardCountTicksUntilHitorTimeout
          0 means call forwardCountTicksUntilTimeout
  */
  int to = 1;
  int count = 0;
  while (to && count < 2) { /*if times out tried no more than 3 times*/
    if (frontRightHit() || frontSideRightHit()) {
      backwardCountTicksUntilTimeout(50, (long) 3000);
      sleep(.25);
      left90(-left90ticks/2);
      if (!hit) {
	to = forwardCountTicksUntilTimeout(ticks, timeout_ms, 0);
      }
      else {
	to = forwardCountTicksUntilTimeout(ticks, timeout_ms, 1);
      }
    }
    else if (frontLeftHit() || frontSideLeftHit()) {
      backwardCountTicksUntilTimeout(50, (long) 3000);
      sleep(.25);
      right90(-right90ticks/2);
      if (!hit) {
	to = forwardCountTicksUntilTimeout(ticks, timeout_ms, 0);
      }
      else {
	to = forwardCountTicksUntilTimeout(ticks, timeout_ms, 1);
      }
    }
    else {
      backwardCountTicksUntilTimeout(50, (long) 3000);
      if (!hit) {
	to = forwardCountTicksUntilTimeout(ticks, timeout_ms, 0);
      }
      else {
	to = forwardCountTicksUntilTimeout(ticks, timeout_ms, 1);
      }
    }
    count++;
  }
  return count;
}