[davidalln]

If your robot is running backwards, then just take the opposite numbers of the motor values (-1 instead of 1) and continue.

Looking over your code, though, there's a better way of doing it. First of all, I would advise against running a motor at full speed when trying to turn, because you should just be making gradual adjustments. Second, a more accurate autonomous can be achieved by just slightly increasing the speed of whichever side of the robot you want to turn and continuing on. That's how we did it, and we were extremely consistent in our autonomous at Alamo.