History of PerpendicularMovement

                     //You need these as a universal variables
                     double dir = 1;
                     static final double favorite = 200; //set Favorite to how far away you want to be!
 
                     //this goes in onScannedRobot
 		    if(getDistanceRemaining() == 0){
 			    dir=-dir;
 			    setAhead(300*Math.random()*dir);
 		    }
 		    setTurnRight(t.getBearing() + 90 - 90*Math.random()*dir*
 		    (t.getDistance()>favorite?1:-1));