     servoLeft.writeMicroseconds(1300);
     servoRight.writeMicroseconds(1300);
   }
-  delay(100);
+  delay(50);
+  stopMovement();
+}
+
+void stopMovement(){
   servoLeft.writeMicroseconds(1500);
   servoRight.writeMicroseconds(1500);
+}
+
+void moveForward(){
+  servoLeft.writeMicroseconds(1700);
+  servoRight.writeMicroseconds(1300);
 }
 
 long microsecondsToCentimeters(long microseconds) {

}

void loop() {
  rotateStep(counterClockwise);
  pingDist = measurePingDist();
  
  measurements[measureIndex] = pingDist;
  Serial.println(arrayToString(measurements,nMeasurements));
  
  //Loop around to 0 before out of bounds:
  ++measureIndex %= nMeasurements;

  delay(100);
}

String arrayToString(int array[], int arrayLength)

const int nMeasurements = 20;
int       measurements[nMeasurements];
int       measureIndex = 0;
const int STATE_SEARCH    = 0;
const int STATE_APPROACH  = 1;
const int STATE_FOUND     = 2;
int       currentState = STATE_SEARCH;

const bool clockwise = true;
const bool counterClockwise = false;
