 	{
 		switch (path[i])
 		{
-		case 'D':
+		/*case 'D':
 			simplifiedPath[sCounter++] = 'C';
 			break;
 		case 'C':
 			simplifiedPath[sCounter++] = 'D';
-			break;
+			break;*/
 		case 'L':
 			simplifiedPath[sCounter++] = 'R';
 			break;
-		case 'R': 
+		case 'R':
 			simplifiedPath[sCounter++] = 'L';
 			break;
 		}


unsigned char FOUND_LEFT()
{
	return (ON_LINE(sensorValues[0]	) && ON_LINE(sensorValues[1]) && ON_LINE(sensorValues[2]) && ON_LINE(sensorValues[3]) && ON_LINE(sensorValues[4]));
}

unsigned char FOUND_RIGHT()

	}



	simplifiedPath[sCounter++] = 'J';
	simplifiedPath[sCounter] = '\0';

	for (i = 3; i < sCounter; i++)
	{
		if (simplifiedPath[i] == 'L' && simplifiedPath[i + 1] == 'L' && simplifiedPath[i + 2] == 'L' && simplifiedPath[i + 3] == 'L' && simplifiedPath[i + 4] == 'R')
		{
			simplifiedPath[i] = 'R';
			simplifiedPath[i + 1] = 'R';
			simplifiedPath[i + 2] = 'L';
			simplifiedPath[i + 3] = 'O';
			simplifiedPath[i + 4] = 'O';


		}
		if (simplifiedPath[i] == 'R' && simplifiedPath[i + 1] == 'R' && simplifiedPath[i + 2] == 'R' && simplifiedPath[i + 3] == 'R' && simplifiedPath[i + 4] == 'L')
		{
			simplifiedPath[i] = 'L';
			simplifiedPath[i + 1] = 'L';
			simplifiedPath[i + 2] = 'R';
			simplifiedPath[i + 3] = 'O';
			simplifiedPath[i + 4] = 'O';


		}
	}
	sCounter = 0;
	/*while (1)
		{

		BLUETOOTH.println(path);
		BLUETOOTH.println(" :) ");
		BLUETOOTH.println(simplifiedPath);
		}*/

	/*LED_LEFT_ON;
	LED_RIGHT_ON;*/

	while (1)
	{

		unsigned char foundLeft = 0, foundStraight = 0, foundRight = 0;
		SPEED_MAX = 2040;
		followSegment();

		position_ = readSensors();
