 void stopMovement(){
   servoLeft.writeMicroseconds(1500);
   servoRight.writeMicroseconds(1500);
+}
+void moveForward(){
+  servoLeft.writeMicroseconds(1700);
+  servoRight.writeMicroseconds(1300);
 }
 
 long microsecondsToCentimeters(long microseconds){

      intervalLength++;
    }

    if(intervalLength <= 5){
      return iL<iR ? (iL + iR)/2 : ((iL + iR+l)/2)%l;
    } else {
      for(int i=iL; i<iR; i++){
        noCylinder[i] = true; 
      }
    }

  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;
