             return;
         } else if (data == rQuery) {
             findsensor(maxPulse);
-            Serial.write(sReady);
+            sendid();
             flashled();
         } else if (data == rTurn) {
             turn(halfTurns, startPitch, dir);

    pinMode(stepPin, OUTPUT);
    pinMode(dirPin, OUTPUT);
    pinMode(sensorPin, INPUT_PULLUP);
    digitalWrite(dirPin, HIGH);
    Serial.begin(9600);
    findsensor(maxPulse);
    defaults();
    Serial.write(sReady);
}

void defaults() {

    endPitch = 36;
    dir = true;
    recentre = true;
}

void sendid() {
    if (!digitalRead(A0)) {
        Serial.write(sReady + 0);
    } else if (!digitalRead(A1)) {
        Serial.write(sReady + 1);
    } else if (!digitalRead(A2)) {
        Serial.write(sReady + 2);
    } else if (!digitalRead(A3)) {
        Serial.write(sReady + 3);
    }
}

int pitchToPulse(float pitch) {
