 {
   pathLength++;
   
-  if(pathLength < 3 || path[pathLength-2] != back)
+  if(pathLength < 3 || path[pathLength-2] != backward)
     return;
 
   int totalAngle = 0;

  switch(totalAngle)
  {
    case 0:
  path[pathLength - 3] = 'S';
  break;
    case 90:
  path[pathLength - 3] = 'R';
  break;
    case 180:
  path[pathLength - 3] = 'B';
  break;
    case 270:
  path[pathLength - 3] = 'L';
  break;
  }


	int motorSpeed;
	int posPropotionalToMid;

	//direction = forward;

	turnOffAllLeds();
