 }
 
 void processMessage(aJsonObject *msg){
-      
+
     aJsonObject  *rotate = aJson.getObjectItem(msg, "rotate");
     aJsonObject  *goforward = aJson.getObjectItem(msg, "goforward");
     aJsonObject  *gobackward = aJson.getObjectItem(msg, "gobackward");
     aJsonObject  *stopnow = aJson.getObjectItem(msg, "stop");
-    
+
    if (rotate->type == aJson_String) {
       String direction=(String(rotate->valuestring));
       float bias=0;

      persistantBias=0;
      persistantRotation=NO_ROTATION;
     Serial.println("{\"response\":\"OK gobackward\"}");
    } 

    if (stopnow->type == aJson_True) {
      float bias=0;

const int SPEED_RIDICULOUS=70;
const int SPEED_LUDICROUS=80;
const int NO_ROTATION=0;
const int LEFT_ROTATION=1;
const int RIGHT_ROTATION=-1;

// Compass Constants
const int compassI2CAddress=0x1E;

// Remote Control
const int ultrasonicRangeFinderPin= 4;

// Globals
float lastHeading=-2;
float lastRange=-1;
float persistantBias=0;
