diff --git a/maze.adoc b/maze.adoc
index 48fc359..985eeaf 100644
--- a/maze.adoc
+++ b/maze.adoc
@@ -192,12 +192,16 @@ def moveFinished(lim=0):
 .Κώδικας raspberry
 [source,python]
 --
-	if (abs(m.frontDistance-prevNode.frontDistance)>25):
-            continue
-    if (abs(m.leftDistance-prevNode.leftDistance)>25):
-            continue
-    if (abs(m.rightDistance-prevNode.rightDistance)>25):
-            continue
+	def ignoreMetrics():
+     flag=False
+     if (abs(m.frontDistance-pos.oldFrontValue)>25):
+        flag=True
+     if (abs(m.leftDistance-pos.oldLeftValue)>25):
+        flag=True
+     if (abs(m.rightDistance-pos.oldRightValue)>25):
+        flag=True
+     return flag
+
 
 --