   for(int i=0; i<stepsInFullTurn; i++){ 
     rotateStep(counterClockwise);
     int m = measurePingDist();
+    
+    Serial.println("Measured: "+String(m));
     measurements[i] = m;
     if(m > discardCylDist) // TODO Should be "m > discardCylDist"?
       noCylinder[i] = true;


void loop(){
  measure();
  Serial.println(arrayToString(measurements,stepsInFullTurn));
  delay(1000);
  stepsToCylinder = findCylinder();
  for(int i=0; i<stepsToCylinder; i++){
    rotateStep(counterClockwise);
  }
  delay(4000);
}

// Rotates one step clockwise or counter-clockwise
void rotateStep(bool clockwise) {
  if(clockwise){
    servoLeft.writeMicroseconds(1600);
    servoRight.writeMicroseconds(1600);
  } else {
    servoLeft.writeMicroseconds(1400);
    servoRight.writeMicroseconds(1400);
  }
  delay(100);
  stopMovement();
