private boolean fetchGarbage(Point garbage) {
                pathPlanner.goToPenultimate(garbage);

            	if (tryLeftRight() == true) return true;
            	
                while(!pos2d.isDataReady()) {};
            	pos2d.setSpeed(0.8, 0);
            	try { Thread.sleep (250); } catch (Exception e) { }
                while(!pos2d.isDataReady()) {};
            	pos2d.setSpeed(0, 0);
            	if (tryLeftRight() == true) return true;
            	
                while(!pos2d.isDataReady()) {};
            	pos2d.setSpeed(-0.8, 0);
            	try { Thread.sleep (500); } catch (Exception e) { }
                while(!pos2d.isDataReady()) {};
            	pos2d.setSpeed(0, 0);
            	if (tryLeftRight() == true) return true;
            	
                return false;

               
        }