     noCylinder[currentIndex] = true;
   }
   
-  int cyl = -1;
+  int cyl = noCylFound;
   if(currentIndex >= extraSwipeSteps)
     cyl = findCylinder(currentIndex-extraSwipeSteps);
-  if(cyl != -1){
+  if(cyl != noCylFound){
     cyl += extraSwipeSteps;
     Serial.println("found cyl "+String(cyl)+" steps away");
     while(cyl--){

const int discardCylDist = 65;
const int horizonDist = 300;
const int extraSwipeSteps = 3;

int  measurements[stepsInFullTurn];
int  currentIndex = 0;

    int nearestIndex = getIndexMin(measurements, noCylinder, maxIndex);
    
    Serial.println("Nearest index found: "+String(nearestIndex));
    if(nearestIndex == noCylFound){
      // No cylinder found
      // If we have checked all indicies, move to a new location
      if(currentIndex == stepsInFullTurn-1){
        int iLargest = getIndexOfLargestOpenInterval();
        int nSteps = currentIndex - iLargest;
