 
 	
 	// Mode 1 for simplifying path
-	if (MODE == 1)
-		simplifyPath();
+	//if (MODE == 1)
+		//simplifyPath();
 
 	// Mode 2 for running on simplified path
-	if (MODE == 2)
-		runSimplifiedPath();
+	//if (MODE == 2)
+		//runSimplifiedPath();
 
 }
 

			LED_LEFT_ON;
			LED_RIGHT_ON;

			BLUETOOTH.println(path);
			BLUETOOTH.println("END OF MAPPING MODE");

				motorLeft.write(512);
				motorRight.write(512);
				//delay(50);
			LED_LEFT_OFF;
			LED_RIGHT_OFF;



		char direction = selectTurn(foundLeft, foundRight, foundStraight);
		turn(direction, SPEED_TURN, 300);

		// L 90 Turn OR R 90 Turn
		if ((foundLeft || foundRight) && !foundStraight)
