           if (dist < DIST_TOO_CLOSE) {
             // too close!  back off
             setLEDColour(1, 0, 0);
+            bot.buzz(40);
             bot.drive(-10);
           } else {
             setLEDColour(0, 1, 0);

    digitalWrite(LED_BLUE_PIN, b);
}

static void initBuzzer() {
    pinMode(BUZZER_PIN, OUTPUT);
}

static void playStartupJingle() {
    for (byte i=0; i<3; i++) {
        analogWrite(BUZZER_PIN, 100 + i*50);
        delay(200 + i*50);
    }

    analogWrite(BUZZER_PIN, 0);
}

static void playGrumpy() {
    for (byte i=0; i<2; i++) {
        analogWrite(BUZZER_PIN, 250 - i*100);
        delay(100 + i*100);
    }

    analogWrite(BUZZER_PIN, 0);
}



    bot.begin(true);
    bot.enableLookAhead(true);
    bot.initBumpers(SWITCH_FL_PIN, SWITCH_FR_PIN, SWITCH_BL_PIN, SWITCH_BR_PIN, handleCollision);
    bot.initBuzzer(BUZZER_PIN);
    bot.playStartupJingle();

    lidServo.attach(SERVO_PIN);
    lookAt(90);
    
    pinMode(IR_PIN, INPUT);
}
