 
 void loop(){
   measure();
+  tone(beepPin, 2000, 500);
   Serial.println(arrayToString(measurements,stepsInFullTurn));
   delay(1000);
   stepsToCylinder = findCylinder();
+  Serial.println("Cylinder at index: "+String(stepsToCylinder));
+  tone(beepPin, 2000, 500);
   for(int i=0; i<stepsToCylinder; i++){
     rotateStep(counterClockwise);
+  }
+  tone(beepPin, 5000, 500);
+  while(measurePingDist()>10){
+    moveForward();
   }
   delay(4000);
 }

  // initialize serial communication:
  Serial.begin(9600);
  
  tone(4, 2000, 500);
  servoLeft.attach(13);
  servoRight.attach(12);


void stopMovement(){
  servoLeft.writeMicroseconds(1500);
  servoRight.writeMicroseconds(1500);
}
void moveForward(){
  servoLeft.writeMicroseconds(1700);
  servoRight.writeMicroseconds(1300);
}

long microsecondsToCentimeters(long microseconds){
