if (nextCheckpointAngle > 120 || nextCheckpointAngle < -120 ||nextCheckpointDist < 1500){

                    thrust = 70;

                }      

            else if (nextCheckpointAngle > 100 || nextCheckpointAngle < -100 || nextCheckpointDist < 3000){

                    thrust = 80;

                }

            else if (nextCheckpointAngle > 50 || nextCheckpointAngle < -50){

                    thrust = 85;

                }

            else if (nextCheckpointAngle > 20 || nextCheckpointAngle < -20){

                    thrust = 90;

                }

            else {

                    thrust = 100;

                }