Revert "Updated the obstruction code for placeForward(distance)"

This reverts commit c4aeecb002b4361d50155db6ce11d201d64ae109.
Updated code with new obstruction detection (reverted from commit e00c1a6bd16ac6bb984b3cc2e91b99510a467588)
Changed out the code for the obstruction detection (reverted from commit a864fcf8a182f6767f07e2c6e9769e4f79c57445)