   
   batteryLevel();
   
-  // Turn in place constantly.
-  digitalWrite(motorA_direction, HIGH); // Channel A forward
-  digitalWrite(motorB_direction, LOW); // Channel B backward
-  analogWrite(motorA_pwm, 255); // Channel A at max speed 
-  analogWrite(motorB_pwm, 255); // Channel B at max speed
-  
-  
-  
+  // Start moving!
+  timer_action = timer.setTimeout(100, action_trundle);
+  //action_trundle();
+  
+  // Start singing
   playMelody();
-  //sound_playMelody();
-  
-  int timer_ping = timer.setInterval(ping_delay, doPing);
-  Serial.print("Ping tick started id=");
-  Serial.println(timer_ping);
-  
-  
+  
+
+  
+  /*
   int timer_melody = timer.setInterval(melody_delay, playMelody);
   Serial.print("Melody tick started id=");
   Serial.println(timer_melody);
-  
+  */
   
   int timer_battery = timer.setInterval(battery_delay, batteryLevel);
   Serial.print("Battery tick started id=");

const int ping_distance = 80; // Maximum distance we want to ping for (in centimeters). Maximum sensor distance is rated at 400-500cm.
const byte ping_delay = 200; // Number of milliseconds to wait before next ping
NewPing sonar(ping_trigger, ping_echo, ping_distance); // NewPing setup of pins and maximum distance.



// Battery configuration
const byte battery_led = 5;

{
  // Let the timers do their thing.
  timer.run();
  action_run();
  snd.update();
}

void batteryLevel()
