void moveAwayFromBoundary(int qrdNum){ // 1 for left 0 for right
  switch(qrdNum){
    case 1:
      //pivotRight();
      speed = .8*maxSpeed;
      forwardL = false;
      forwardR = false;
      setMotor(speed, forwardL, forwardR);
      break;
    case 2:
      //pivotLeft();
      speed = .8*maxSpeed;
      forwardL = true;
      forwardR = true;
      setMotor(speed, forwardL, forwardR);
      break;
    case 3:
      //reverse();
      speed = .8*maxSpeed;
      forwardL = false;
      forwardR = true;
      setMotor(speed, forwardL, forwardR);
      break;
    default:
      //forward();
      speed = .8*maxSpeed;
      forwardL = true;
      forwardR = false;
      setMotor(speed, forwardL, forwardR);
      break;
  }

}