 void loop() {
 
 
-  // danceRandom(10000);
+  danceRandom(10000);
   // blockingGoHome();
   // delay(500);
   // // scream(4);

  rotarySetup();
  rotaryHome();
  scream(1);
  pickRoutine();
  scream(2);
}

void pickRoutine(){


  while(millis()-start < duration) {
    if (gotThere) {
      r = random(int(hiLimitSteps*0.2),hiLimitSteps);
      theta = random(0,8);
    }

