@Override
	public boolean takeControl() {

		double distance = Sputnik.opp.getPose().distanceTo(new Point(0, 0));
		Thread.yield();
		// System.out.println("distance: " + distance);
		if (Localizing.cornerCount != 2) {
			return false;
		}
		if (Sputnik.robotMap.getHeading() == 0
				|| Sputnik.robotMap.getHeading() == 2) {
			if (distance > Sputnik.intersectionDistance_height) {
				return true;
			}
		}
		if (Sputnik.robotMap.getHeading() == 1
				|| Sputnik.robotMap.getHeading() == 3) {
			if (distance > Sputnik.intersectionDistance_width) {
				return true;
			}
		}
		if (PathSweeping.intersection && Localizing.cornerCount == 2) {
			return true;
		}
		return false;
	}