       Serial.print("OBSTACLE !");Serial.println(distance);
     }
 
-    motorstate = MOVE_BACKWARDS;
-    interval = 100;
+    if (reactive) 
+    {
+      motorstate = MOVE_BACKWARDS;
+      interval = 100;
+    }
   } else {
     //motorstate=STILL;
     //digitalWrite(led,LOW);


int noAction = STAYSTILL;


int const RELAXED = 0;
int const PHOTOTROPISM = 1;

      case '+':
        interval = 2000;
        break;
      case 'R':
        reactive = true;
        break;
      case 'r':
        reactive = false;
      default:
        if (48 < incomingByte && incomingByte < 58)
        {
