/*Defensive Route 4*/

{
char foobar;
char state=0;
if(left_encoder && right_encoder == 0)
	{
		foobar=command_drive(423);
		if (foobar)
		state++;
	}

if(state==1)
	{
		foobar=command_turn_left(90);
		if (foobar)
		state++;

	}

if(state == 2)
	{
		foobar=command_drive(229);
		if (foobar)
		state++;
	
	}
		
		
if(state == 3)

	{
		foobar=command_drive(-229);
		if (foobar)
		state=2;
	}