   digitalWrite(motorA_brake, LOW);   // Disengage the Brake for Channel A
   digitalWrite(motorB_brake, LOW);   // Disengage the Brake for Channel B
   
-  pinMode(6, OUTPUT); 
   
   batteryLevel();
+  
+  
+  action_stop();
   
   // Start moving!
   //timer_action = timer.setTimeout(100, action_trundle);
-  timer_action = timer.setTimeout(100, experimental_servoMove);
+  //timer_action = timer.setTimeout(100, experimental_servoMove);
 
   int timer_battery = timer.setInterval(battery_delay, batteryLevel);
   Serial.print("Battery tick started id=");

  servo_pinger.detach();
}


int melody[] = { 262, 196, 196, 220, 196, 0, 247, 262 };
int noteDurations[] = { 4, 8, 8, 4, 4, 4, 4, 4 };
unsigned long melody_delay = 10000; // Number of milliseconds to wait before next melody

/* Structure containing received data */
decode_results results;/* Used to store the last code received. Used when a repeat code is received */
unsigned long LastCode;

/* Create an instance of the IRrecv library */
IRrecv irrecv(RECV_PIN);

// The motion states, so we always know where we're going.
enum motion_states {
