     delay(200);
 }
 
-// Rotate
+/**
+     Rotates
+     
+     @param direction
+*/
 inline void rotate(Direction d){
   delay(300);
   switch(d){

  FRONT
};

// Setup
void setup() {
  //pinMode(13, OUTPUT);
  pinMode(9, OUTPUT);

  Serial.begin(9600);
}

/**
     Loop Code
*/
void loop() {
    if (analogRead(SENSOR_FRONT) > 300){
      if(analogRead(SENSOR_LEFT) > 150){
          stop();
          rotate(RIGHT);
          wlak();
      } else {
          stop();
          rotate(LEFT);
          wlak();
      }
    } else {
      walk();
