   }
 
   else if(oldSpeed == hiVal){
-    if(probability < 20){
+    if(probability < 50){
       return midVal;
     }
     else{



  panTilt.updateAngles();
if(millis() - timePassed >= 1000){
    changeVal = getMarkovSpeed(changeVal);

    if(markovState(20, 70) == 2){
      shake();
    }

    if(random(101) < 6){
      delay(markovPause());

  }

  else if(oldSpeed == midVal){
    if(probability < 40){
      return hiVal;
    }
    else if(probability < 90){
      return midVal;
    }
    else{
