void semiCircle(double radius) {
	double ratio, radius1, radius2, RPM, RPM1;
	double rev1, rev2;
	radius1 = radius + 5;
	radius2 = radius - 5;
	ratio = radius2 / radius1;
	RPM1 = target_RPM;
	RPM = ratio * RPM1;
	/*
	rev1 = (PI*radius1 / (2.0*5.7)) * 49.0;
	rev2 = (PI*radius2 / (2.0*5.7)) * 49.0;
	*/
	rev1 = (2.0*PI*radius1 / (PI*5.7))*49.0;
	rev2 = (2.0*PI*radius2 / (PI*5.7)) *49.0;

	int y = (int)rev1;
	int y1 = (int)rev2;
	output = PID.ComputePID_output(RPM, current_RPM);
	output1 = PID1.ComputePID_output(RPM1, current_RPM1);
	motor.set_speed(output);
	motor1.set_speed(output1);

	Serial.println(sense.GetDistanceCount());
	if (sense.check_distance_met(y1)) {
		motor.stopMotor();
		motor1.stopMotor();
	}
}