Zumi will try to align to the funnel piece on the competition field (Click here for a PDF version).
funnel_align(speed=20, duration=1, angle=None, angle_adj=2, l_th=100, r_th=100)
speed: Positive integer value for speed between 0 and 80
duration: Number of seconds Zumi will try to align to the funnel piece
angle: Heading or desired angle (Default to None which is Zumi's current heading)
angle_adj: The number of degrees Zumi will turn if one IR sensor detects white
l_th: threshold of the bottom left IR sensor
r_th: threshold of the bottom right IR sensor