 const int BUTTON_PIN = 8;
 const int SPEAKER_PIN = 7; // Status speaker, resistor?
 const int ULTRA_SOUND_PIN = 6;
-const int GALV_PIN = 10;
+const int GALV_PIN = A1;
 
 // Constants for servo
 Servo servoRight;

    
    
  } else if (currentState == 3) {
    irDistLeft = irDistance(IR_LED_PIN_LEFT, IR_REC_PIN_LEFT);         // Measure distance
    irDistRight = irDistance(IR_LED_PIN_RIGHT, IR_REC_PIN_RIGHT);

  //Serial.print(irDistLeft);
  //Serial.print("  ");

  if (foundCylinder) {
    stopMovement();
  } else {
  irDistLeft = irDistance(IR_LED_PIN_LEFT, IR_REC_PIN_LEFT);         // Measure distance
  irDistRight = irDistance(IR_LED_PIN_RIGHT, IR_REC_PIN_RIGHT);
  galvReading = digitalRead(GALV_PIN);
  if (galvReading == HIGH) {
    foundCylinder = true;
    stopMovement();
    Serial.println("Galv!");
  } else if (irDistLeft < 0.8) {
    turnLeft();
  } else if (irDistRight < 0.8) {
