 		Serial.print('\t');
 	}
 
+	Serial.print(" linePosition: ");
 	Serial.println((int)position - 2500);
 }
 
-void printPath(){
-  Serial.println("+++++++++++++++++");
-  int x;
-  while(x<=pathLength){
-  Serial.println(path[x]);
-  x++;
-  }
-  Serial.println("+++++++++++++++++");
+void printPath()
+{
+	Serial.println("+++++++++++++++++");
+	for (unsigned int i = 0; i < pathLength; i++)
+	{
+		Serial.println(path[i]);
+	}
+	Serial.println("+++++++++++++++++");
 }

		break;
	}

	// print position and outer sensor values over serial port
	Serial.print(position);
	Serial.print("  ");
	Serial.print(sensorValues[0]);
	Serial.print("  ");
	Serial.println(sensorValues[5]);

	drive();
}


Direction path[300];
unsigned int pathLength;
unsigned int pathPositionInLaterRun;

int drivePastDelay = 300; // tune value in mseconds motors will run past intersection to align wheels for turn NOT TESTED

