Removed Arc functionality. Don't worry about calibrating it. Spins will be much easier to debug.
Changed traversal to utilize spins instead
Clarified issue at line 115.
Fixed exitMaze and removed invertTurns (untested)
Cleaned up the recursive algorithm (untested)
Program does not exit execution cleanly (calls exitMaze() in the middle of check path then terminates the whole program)
It is a problem with recursion I was aware of from the beginning and I believe I know how to fix it.