long rightDistance = distanceRight();
    Serial.print("Right Distance: ");
    Serial.println(rightDistance);

    if( leftDistance < 6 && rightDistance < 6 ){
      Serial.println("Maze Completed");
      currentState = mazeComplete;
      return;
    }

    if( leftDistance > rightDistance ){
      currentState = turnLeft;
    } else {
      currentState = turnRight;
    }