 
 		moveBothMotors(maxMotorSpeed, forward, maxMotorSpeed, backward);
 		checkForNewLineOnSide(right);
-    path[pathLength]= backward;
-    simplifyMaze();      
+		path[pathLength] = backward;
+		simplifyMaze();
 		break;
 
 	case left:


		moveBothMotors(maxMotorSpeed, forward, maxMotorSpeed, backward);
		checkForNewLineOnSide(right);
    
    path[pathLength]= right;
    simplifyMaze();    
		break;
	}
}

long diversionCheckingStartTime;
bool isDiversionCheckRunning;

bool isFirstRun = true;


#pragma region "Initialization"
void setup()
