Ok,
The idea that I was intending was when I turn a corner, I have to turn to the left. I then will have to cause the car to straighten out by causing the motor to turn to the right. Kind of like how you drive a car. When you make a turn, you have to turn in the opposite direction to straighten the vehicle out.
When I call my left turn function (seen above) it veers to the left, but then after the delay, it continues turning left (even though the digitalWrite signal is the opposite of what it should be).
When I call my right turn function (seen above), it veers to the right, and after the delay, it turns left (because the digitalWrite signal has changed) and it corrects the direction as intended.
I hope that makes more sense.