     ColorSet(LEDStrip.Color(0, 0, 255));
 }
 
-
 void SetServo(uint32_t uptime, uint8_t servoPos)
 {
     uint32_t interval = 1000;
     uint32_t returnInterval = 300;
-    
-    if(uptime < interval+1)
-    {
-        return;
-    }
-
-    if(servoLastScanTimestamp < uptime - interval)
+
+    if(uptime < returnInterval) { return; }
+
+    if(servoLastScanTimestamp + interval < uptime)
     {
         servoLastScanTimestamp = uptime;
+        servoMoveCenterDenied = false;
 
         if(servoLastScan == RIGHT)
         {


    // IR Detector
    pinMode(obstaclePin, INPUT);

    LEDStrip.begin();
    LEDStrip.show(); // Initialize all pixels to 'off'

    if(analogRead(obstaclePin) < 500)
    {
        return true;
    }
    if(analogRead(obstaclePin2) < 500)
    {
        // TODO
        // return true;
    }
    return false;
}
