           stopMotors();
       } else
       
-      if ((fwd_range_cm >= 100) && (forward_speed < 255) && (forward_speed > 0)) {
+      if ((fwd_range_cm >= distance_slowdown) && (forward_speed < 255) && (forward_speed > 0)) {
           forward_speed = 255;
           goForward(forward_speed);
           Serial.println("No obstacles - SPEEDING UP!");

          tone(SPEAKER_PIN, NOTE_B3, 10);
      } else

      if ((fwd_range_cm <= 30) && (forward_speed > 0)) {
          Serial.println("Too close - STOPPING!");
          Serial.print("Speed: ");
          Serial.println(forward_speed);


int forward_speed = 0;

// Slowdown and stopping distances
int distance_stop = 50;
int distance_slowdown = 150;
int speed_slow = 60;

// This is where you declare prototypes for the functions that will be 
// using the TinyGPS library.
void getgps(TinyGPS &gps);
