void timer(int v){

    int time = glutGet(GLUT_ELAPSED_TIME); // In msec
    //cout<<"time:   "<<glutGet(GLUT_ELAPSED_TIME)<<endl;
    //  cout<<"\n"<<endl;
    float angle;
    // Set up next timer event
    glutTimerFunc(60, timer, time);

    if (animating) {

        int delta_t = time - v;
        float delta_x, delta_z, length, step_size;
        // Compute vector from current location to mouse
        delta_x = 10000 - roboX;
        delta_z = 10000 - roboZ;
        //cout<<roboX<<endl;
        //cout<<roboZ<<endl;

        //cout<<delta_x<<endl;
        //cout<<delta_z<<endl;

        // Compute length of the vector
        length = sqrt (delta_x*delta_x + delta_z*delta_z);
        //cout<<length<<endl;
        step_size = 0.1 * delta_t;
        //cout<<"step ";
        //cout<<step_size<<endl;

        //cout<<"stepcalc ";
        //cout<<step_size*0.55<<endl;

        if (length > step_size * 0.55) {
            //cout<<length<<endl;
            //cout<<"true"<<endl;
            // Normalise the delta vector and compute the step
            delta_x = delta_x / length;
            delta_z = delta_z / length;
            cout<<delta_x<<endl;
            cout<<delta_z<<endl;


            angle = atan2(delta_z, delta_x);
            // Convert radians to degrees.

            //calculates the difference in angle between the direction the buggy is
            //facing and the direction of the mouse from the buggy
            float angTarget =  angle * 180.0 / PI;
            cout<<"ang ";
            cout<<angTarget<<endl;

            float diff = angTarget-roboRot;
            cout<<"diff ";
            cout<<diff<<endl;


            //limiters to prevent the buggy from
            //rotating past 180 or -180 degrees
            if(diff<-180){
                diff+=360;
            }
            if(diff>180){
                diff-=360;
            }
            if(roboRot<-180){
                roboRot+=360;
            }
            if(roboRot>180){
                roboRot-=360;
            }

            if(diff<-0.3){
                diff = -0.3;
            }
            else if(diff>0.3){
                diff = 0.3;
            }

            roboRot +=diff;
            cout<<"robo ";
            cout<<roboRot<<endl;

            if(diff ==0){

                roboX += delta_x * step_size;
                roboZ += delta_z * step_size;
            }
            glutPostRedisplay();

        }

    }
}