Basic Route: https://docs.google.com/document/d/1gvns36393ZzSID5yHgIFpSRPhD5NMInV0titd_CTnOE/edit?usp=sharing
Stair Sensor Route: https://docs.google.com/document/d/1Sj4kwkgfFK7HTXXVZUps_yT8Rjvi63Euk8p6MXxB4dU/edit?usp=sharing
