 
 		moveBothMotors(maxMotorSpeed, forward, maxMotorSpeed, backward);
 		checkForNewLineOnSide(right);
+    path[pathLength]= back;
+    simplifyMaze();      
 		break;
 
 	case left:


	Serial.println((int)position - 2500);
}

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

