   schedule.addTask(&pauseTask);
   schedule.addTask(&restTask);
   schedule.addTask(&sleepTask);
+  schedule.addTask(&speedAndDirTask);
   randomSeed(analogRead(5));
 
   mSwitch.heartBeat(3);

  setNextSleepTime();
}



void loop() {
  static unsigned long timePassed;
  static int changeVal;
  static int markovShakeState;

  schedule.run();

  if(!mSwitch.switchState()){
    laser.fire(0);
    mSwitch.ledState(0);


#define DIRECTION_CHANGE_PROBABILITY 15


int markovShakeState =1;
int changeVal;

StuGauss gauss;

