void to_collection (float side)
{
int full_speed=90;
/* up to deposit bin */
straight(-full_speed,-full_speed,100.,1);
straight(full_speed,full_speed,3.,0);

turn(100.*side,50);
straight(full_speed,full_speed,20.,1);
wall_align(sensor_check(),50, 2);
straight(-full_speed,-full_speed,40.,0);
}