This is a MicroMouse for navigating a maze autonomously. So the main algorithm is flood fill. However the flood fill algorithm can have varying times for each pass since you might just be updating a single value; or discovering some specific wall cascades to updating many many values multiple times. However, I haven't gotten a clock on each passes speed yet (since I can't yet navigate) so I took the assumption that each iteration had the potential to take perhaps a significant amount of time.