 
 		moveBothMotors(maxMotorSpeed, forward, maxMotorSpeed, backward);
 		checkForNewLineOnSide(right);
-    path[pathLength]= back;
+    path[pathLength]= backward;
     simplifyMaze();      
 		break;
 

{
  pathLength++;
  
  if(pathLength < 3 || path[pathLength-2] != back)
    return;

  int totalAngle = 0;

	int motorSpeed;
	int posPropotionalToMid;

	//direction = forward;

	turnOffAllLeds();
