void path_correct(int array[]){
    int forward_count =0;
    int temp_placemarker = counter;
    //You want to find the 2 right turns and then count how many forwards there are after it befor
e a left.
    //then take that many forwards off either side of the 2 right turns and shift everything down
appropriately.    //so [0,0,0,0,2,2,0,0,1] needs to be replaced with [0,0,1]
    if(path[temp_placemarker] == 1){        temp_placemarker--;
        //only bother looking for the rights if we don't have a left yet.
        while(path[temp_placemarker] != 2 && temp_placemarker > 0){
            //count how many forwards are between the 1 and the last 2
            forward_count++;
            //step backwards in the array each time until we find the last 2.
            temp_placemarker--;
        }
        if(path[temp_placemarker] == 2){
            temp_placemarker = temp_placemarker - 1; //back up past the 2's.
            counter = temp_placemarker - forward_count; //Back up everything to the new spot we found.
            array[counter] = 1; //put in the new left turn now that we're not wasting our time with the dead end.
            counter++;
            //path corrected, continue on the with robot function.
        }
    }
}