-#include "Motor.h"
+#include "Motor.h"
 #include <QTRSensors.h>
 #include "Direction.h"
 #include <SoftwareSerial.h>
 
-#pragma region "Pin declarations"
+#pragma region "Pin declarations"
 const unsigned char ledPins[] = { 4, 5, 6, 7 };
-unsigned char sensorPins[] = { 0, 1, 2, 3, 4, 5 };
-SoftwareSerial bluetooth(7, 10); // RX, TX
-#pragma endregion
-
-#pragma region "Variable declarations"
+unsigned char sensorPins[] = { 0, 1, 2, 3, 4, 5 };
+SoftwareSerial bluetooth(7, 10);
+#pragma endregion
+
+#pragma region "Constant declarations"
 const int threshold = 400;
 
 // pd loop constants
 const float proportionalConst = 0.2f;
 const float derivateConst = 1.0f;
 
-const int maxMotorSpeed = 250;
+const int maxMotorSpeed = 255;
 
 Direction path[300];
 


void startNextRun()
{
	printPathLed();
	path[pathLength + 1] = none;
	pathPositionInLaterRun = 0;
	isFirstRun = false;
	if (path[pathPositionInLaterRun] == backward)
	{
		direction = backward;
		pathPositionInLaterRun++;
	}
	else
	{
		direction = forward;
	}
	
}

void decideWhatDirection()


void loop()
{
	while (bluetooth.available())
	{
		myChar = bluetooth.read();
		Serial.print(myChar);
	}

	while (Serial.available())
	{
		myChar = Serial.read();
		bluetooth.print(myChar);
	}

	if (myChar == 's')
	{
		shutDown();
	}

	drive();
