 long pingDist;
 int  measurements[stepsInFullTurn];
 int  noCylinder[stepsInFullTurn];
+int  stepsToCylinder;
 
 void setup() {
   // initialize serial communication:

    while(measurements[iRight] < horizonDist){
      iRight = nextIndex(iRight,stepsInFullTurn);
      intervalWidth++;
    }
    if(intervalWidth > lenLargest){
      lenLargest = intervalWidth;

  int lenLargest = 0;
  int iLeftLargest = 0;
  int iRightLargest = 0;
  int nbrOfRightChecks = 0;
  //int startIndex = 0; // TODO This variable was unused
  

  int iLeft;
  int iRight;
