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

	int motorSpeed;
	int posPropotionalToMid;

	//direction = forward;

	turnOffAllLeds();

const float derivateConst = 1.0f;

const int maxMotorSpeed = 150;

Direction path[300];
unsigned int ;

int drivePastDelay = 300; // tune value in mseconds motors will run past intersection to align wheels for turn NOT TESTED

