/******************************************
*             file: turn_correct.c                             *
******************************************/
void correct_heading(int dir, int angle, int distance)
 {while(1)
   {error_check(dir);
    if(abs(angle_error-angle)>3)
      {turn(-dir*((angle_error-angle)/2));}
    else break;}

  if((int)(distance_error)<distance)
    {turn(dir*90);
     go(distance-(int)(distance_error));
     turn(dir*-90);}

  if((int)(distance_error)>distance)
    {turn(dir*-90);
     go((int)(distance_error)-distance);
     turn(dir*90);}

   while(1)
   {error_check(dir);
    if(abs(angle_error-angle)>1)
      {turn(-dir*((angle_error-angle)/2));}
    else break;}
}

/******************END******************/