   Serial.println("WHISKERSEARCH RIGHT");
   // Set the state, so the action can be handled by the state machine.
   action_state = A_WHISKERSEARCH_RIGHT;
+}
+
+void actionWhiskerSearchRightStateMachine(byte motion_state)
+{
+  switch (motion_state) {
+    case M_STOP:
+       // reverse for 1 second
+       actionTimeoutStart(1000);
+       motionRev(200);    
+      break;
+      
+    case M_REV:
+      if (action_done) {
+        // Rotate for a random amount of time.
+        actionTimeoutStart(random(600, 900));
+        motionRotateRight(200); 
+      }
+      break;
+      
+    case M_ROTATE_RIGHT:
+      if (action_done) {
+        Serial.println("SEARCH DONE");
+        // Trundle away
+        actionTrundle();
+      }
+      break;
+
+    default:
+      break;
+  } 
 }
 
 void actionTimeoutStart(int duration)

    // Start feeling
    whiskersStart();
  }
}

/**

{

  switch (action_state) {

    case A_PINGSEARCH:
      actionPingSearchStateMachine(motion_state);
      break;
      
    case A_WHISKERSEARCH_LEFT:
      actionWhiskerSearchLeftStateMachine(motion_state);
      break;
      
    case A_WHISKERSEARCH_RIGHT:
      actionWhiskerSearchRightStateMachine(motion_state);
      break;
      
    case A_DANCE1:
      actionDance1StateMachine(motion_state);
      break;
   
    case A_DANCE2:
      actionDance2StateMachine(motion_state);
      break;
      
    case A_BORED:
      break;
