Recursive algorithm now correctly solves the maze
Arc turns still need to be calibrated
exitMaze() does not work -- need to eliminate invertTurns()
and reimplement the exit method.
Noticed possible issue on line 115, see comment
Update Direction.java

ADDED invertTurns() method to not touch Forward, Back, and Stay. 
CHANGED DEFAULT RETURN for both inverts- if there is not a suitable invert, it returns the parameter unchanged
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.
Further progress on recursive algorithm. Nearly completed.