   }
 }
 else{
+
   return constrain(oldSpeed, 1, 3);
 }
 

*/
  }

  if(random(1001) <= prob<<1 || pt->angle >= pt->maxAngle || pt->angle <= pt->minAngle){
    pt->dir *= -1;/*
    Serial.println(F("##############CHANGE#################"));
    Serial.println(pt->dir);
    */
  }

  return pt->dir;


int getMarkovSpeed(int oldSpeed){
int val = random(101);
Serial.println(F("Markov"));
if(oldSpeed == 1){
  if(val < 20){
    return 2;
