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void sweep_corner () {
    chassis.moveToPoint(TILE * -2.5, TILE * -2, 2000, {});
    chassis.turnToPoint(-TILE * 3 + RING / 2.0 + DRIVE_WIDTH / 2.0, -TILE * 3 + RING / 2 + DRIVE_LENGTH / 2 + DOINKER_LENGTH, 500);
    chassis.moveToPose(-TILE * 3 + RING / 2.0 + DRIVE_WIDTH / 2.0, -TILE * 3 + RING / 2 + DRIVE_LENGTH / 2 + DOINKER_LENGTH, AUDIENCE, 2000, {}, false);
    doinker_piston.extend();
    pros::delay(500);
    chassis.moveToPoint(-TILE * 2, -TILE * 2, 2000, {.forward=false}, false);
    doinker_piston.retract();
    pros::delay(250);
}