 // getIndexOfLargestOpenInterval to get a free new direction
 // to explore.
 int findCylinder(int maxIndex){
-  if(maxIndex < 10)
-    return -1;
   const int l = stepsInFullTurn;
 
   while(true){

    
    Serial.println("intervalLength: "+String(intervalLength));

    if(intervalLength <= 5){ // TODO Experimenting with the threshold
      return maxIndex-(iL + iR)/2;
    } else {
      for(int i=iL; i<iR; i=nextIndex(i,l)){ // TODO consider the edges

      }
    }
  }
}

bool couldIntervalBeCylinder(int intervalLength, int intervalDist){
  // TODO Experimenting with the condition, use intervalDist
  return intervalLength <= 5;
}
bool equalWithinMargin(int val1, int val2, double margin){
  return abs(val1-val2) < margin;
}

// Index of the broadest open horizon.
