 
 const int discardCylDist = 65;
 const int horizonDist = 300;
+const int extraSwipeSteps = 3;
 
 int  measurements[stepsInFullTurn];
 int  currentIndex = 0;

    }
    stopMovement(servoLeft, servoRight);
    beep();
    delay(5000);
  }
}

// Determines the index of the best cylinder candidate

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

    if(couldIntervalBeCylinder(intervalLength, measurements[nearestIndex])){ 
      return maxIndex-(iL + iR)/2;
    } else {
      for(int i=iL; i<iR; i=nextIndex(i,l)){ // TODO consider the edges
