//function to turn a specific angle
void turnAngle (int angle) {
	//convert input from degrees to radians
	int rad=(angle*pi)/180.0;

	//calculate arc length using a radius of 136mm to a turning spot
	//in between the two back wheels
	int s=136*rad;

	// Initialise distance controller variables
	float currentPos, disError, u;
	int Pwr = 0;
	// Initialise turn controller variables
	float Kp_turn = 0.2;
	int encError = 0;

	setSensor(LeftEnc, 0);
	setSensor(RightEnc, 0);

	//condition to make the robot turn counterclockwise when input angle is positive

	do{
		int wheelencodercount = readSensor(LeftEnc);
		currentPos = readWheelEncoder(wheelencodercount);

		disError = s - currentPos;
		u = Kp_turn*disError;
		Pwr = (int)saturate(u,-50,50);

		motorPower(LeftMotor, Pwr);
		motorPower(RightMotor, -Pwr);
		delay(100);
	}while(currentPos<s);
}