bool approach_grab::moveTowardTarget(){
    float vx=0;
    float vy=0;
    float omega=0;
    
    // if we see the target in between the left and right tolerances we apprach the object.
    if(targetPos[0]>turnLeftTol && targetPos[0]<turnRightTol){
        // use a simple proportinoal controller to set the velocites 
        if(abs(distToTarget[1])>desiredPosError[1])  vx=distToTarget[1]*posGain;
        if(abs(distToTarget[0])>desiredPosError[0])  vy=distToTarget[0]*posGain;
    }
    
    // if the object is to the left of our tolerance zone turn left to look for it
    if(targetPos[0]<turnLeftTol){
        omega=.5;
    }
    
    // if the object is to the right of our tolerance zone turn right to look for it
    if(targetPos[0]>turnRightTol){
      omega=-.5;
    }
    
    // set the velocity of the robotino
    setRobotinoVelocity(vx,vy,omega);
    
    // we want to return ture while we are still approaching the ball.
    return (abs(distToTarget[0])>desiredPosError[0] || (distToTarget[1])>desiredPosError[1]);  // return true while we still need to move
}