   moveBackwards();
   doBlink(2,100);
   rotateLeft();
-  doBlink(2, 250);
+  doBlink(2, ROTATE_TIME);
   
   limitMillis = millis() + FORWARD_TIME;
   moveForward();


void moveForward(){
  Serial.println("Moving FORWARD...");
  setMotor(MOTOR_LEFT, MOTOR_DIRECTION_FORWARD, 100);
  setMotor(MOTOR_RIGHT, MOTOR_DIRECTION_FORWARD, 100);  
}

void moveBackwards(){
  Serial.println("Moving BACKWARDS...");
  setMotor(MOTOR_LEFT, MOTOR_DIRECTION_BACKWARDS, 100);
  setMotor(MOTOR_RIGHT, MOTOR_DIRECTION_BACKWARDS, 100);  
}

void rotateRight(){

#define MOTOR_DIRECTION_BACKWARDS 0
#define FORWARD_TIME          10000
#define TOO_CLOSE_DISTANCE    6
#define MOTOR_RIGHT_FW_SPEED 91
#define MOTOR_LEFT_FW_SPEED  100
#define MOTOR_RIGHT_BW_SPEED 91
#define MOTOR_LEFT_BW_SPEED  100
#define ROTATE_TIME 150

// the setup function runs once when you press reset or power the board
void setup() {
