public void findDispenser() {	//go until 8cm apart, slow down at 15cm
		int sensor = 50;
		r.resetEncodedMotorPosition(RXTXRobot.MOTOR1);
		r.resetEncodedMotorPosition(RXTXRobot.MOTOR2);
		r.runMotor(RXTXRobot.MOTOR1, -150, RXTXRobot.MOTOR2, -150, 0);
		int distance = r.getPing(13);
		boolean slower = true;
		boolean aligned = true;
		while(sensor > 12) {
			if(r.getPing(13) <= (distance * .75) && aligned) {
				r.sleep(300);
				move.align();
				r.runMotor(RXTXRobot.MOTOR1, -150, RXTXRobot.MOTOR2, -150, 0);
				
			}if(r.getPing(13) <= (distance / 2) && aligned) {
				r.sleep(300);
				move.align();
				aligned = false;
				r.runMotor(RXTXRobot.MOTOR1, -150, RXTXRobot.MOTOR2, -150, 0);
			}
			if(sensor < 50 && slower) {
				r.runMotor(RXTXRobot.MOTOR1, -75, RXTXRobot.MOTOR2, -75, 0);
				slower = false;
			}
			sensor = (r.getPing(13) + r.getPing(12)) / 2;
			System.out.println("distance from dispenser: " + sensor);
			
		}
		r.runMotor(RXTXRobot.MOTOR1, 0, RXTXRobot.MOTOR2, 0, 0);
		
		
	}