bool mazeComplete = false;

int distance = 0;
int rightDistance = 0;
int leftDistance = 0;

void autonomous() {
  Serial.println("Auto Engaged");
  while(!mazeComplete) {
    if (SerialBT.available()) {
      d = SerialBT.read();
    }
    if (d == 'X') {
      mazeComplete = true;
      // we will stop the autonomous if we send the letter 'X'
      break;
    }
    // Movement

    distance = readDistance();

    if(distance > 50){
      fwd()
      delay(100);
      stop();
    } else {
      bwd()
      delay(100);
      stop();

      ultra.write(120);
      rightDistance = readDistance();
      delay(200);

      ultra.write(0);
      leftDistance = readDistance();
      delay(200);

      if(rightDistance > leftDistance){
        right();
        delay(200);
        stop();
      } else {
        left();
        delay(200);
        stop();
      }
    }
  }
  Serial.println("Auto Finished");
}