public void doBoardSearch() {
   this.nav.travelTo(30, 30);
   this.nav.turnTo(2, false);
   nav.setSpeeds(-1 * ROTATION_SPEED, ROTATION_SPEED);
   while (!objectSeen()) {}
   nav.setSpeeds(0, 0);
   counter++;
   Double rightAngle = odo.getAng();
   nav.setSpeeds(-1 * ROTATION_SPEED, ROTATION_SPEED);
   while (objectSeen()) {}
   nav.setSpeeds(0, 0);
   Double leftAngle = odo.getAng();
   this.nav.turnTo(odo.getAng() - 5 - (0.5 * this.getAngleDistance(leftAngle, rightAngle)), false);
   this.nav.setSpeeds(0, 0);
   while (usPoller.getDistance() > 0.065) {
     this.nav.setSpeeds(50, 50);
   }
   this.nav.setSpeeds(0, 0);
   // go find another block
   this.nav.travelTo(30, 30);
   this.nav.turnTo(leftAngle + 20, false);
   nav.setSpeeds(-1 * ROTATION_SPEED, ROTATION_SPEED);
   while (!objectSeen()) {}
   nav.setSpeeds(0, 0);
   counter++;
   rightAngle = odo.getAng();
   nav.setSpeeds(-1 * ROTATION_SPEED, ROTATION_SPEED);
   while (objectSeen()) {}
   nav.setSpeeds(0, 0);
   leftAngle = odo.getAng();
   this.nav.turnTo(odo.getAng() - 5 - (0.5 * this.getAngleDistance(leftAngle, rightAngle)), false);
   this.nav.setSpeeds(0, 0);
   while (usPoller.getDistance() > 0.065) {
     this.nav.setSpeeds(50, 50);
   }
   this.nav.setSpeeds(0, 0);
 }
 public double getWallUsValue() {
   return 0.40 * (1 + (0.181818 * Math.abs(Math.sin(Math.toRadians(2 * odo.getAng() + 180)))));
 }