 
         wheelSpinCompleted = false;
 
+        // TODO: if this is going on for too long - stop
+
         if(rangeCenter > rangeLimit_Warning3 && (rangeLimit_Timestamp + rangeLimit_RotateFor) <= uptime)
         {
             wheelSpinCompleted = true;


    uint32_t uptime = millis();
    uint8_t servoPos = ServoMotor.read();

    /*
    Serial.print(servoPos);
    Serial.print(" - ");
    Serial.print(rangeLeft);
    Serial.print(" - ");
    Serial.print(rangeCenter);
    Serial.print(" - ");
    Serial.print(rangeRight);
    Serial.print(" - ");
    Serial.println(uptime);
    */

    GetRange(servoPos, wheelSpinCompleted);


    // attach servo pin and set to initial direction
    ServoMotor.attach(servoPin);
    ServoMotor.write(servoCenter);
}

void GetRange(int servoPos, bool rotating)
