   
  ///// Set Dampening couter/reset
 dampening = (dampening - 0.0005);
-if (dampening < 0.6){
-  dampening = 0.6;
+if (dampening < 0.8){
+  dampening = 0.8;
 }
 if (g_bGotTweet == true){
- dampening = 1.0; 
+ dampening = .95; 
 }
 
 
   // Orient the robot towards the object
+  if(monsterTimer <=190){
   g_poDataMonster->setPosture(location[0],  location[1],  location[2], location[3], location [4], g_bGotTweet);
-
+  }
+  
 #endif
 
 }

  else{
    iPwmValue = mapfloat(g_fZ, SENSOR_Z_MIN, SENSOR_Z_MAX, g_poDataMonster->m_apJoinArray[3]->m_fPwmMin, g_poDataMonster->m_apJoinArray[3]->m_fPwmMax);
  }
  target[3]= iPwmValue;

  // Y maps to joint 4
  if(g_fZ >= 0 && g_fZ < 0.1){
    iPwmValue = mapfloat(g_fY, 0, (.1), g_poDataMonster->m_apJoinArray[4]->m_fPwmMin, g_poDataMonster->m_apJoinArray[4]->m_fPwmMax-50);  ///////<-hardcoded! 
  }
  else if(g_fZ >= 0.1 && g_fZ< 0.2){
    iPwmValue = mapfloat(g_fY, 0.1, 0.2, g_poDataMonster->m_apJoinArray[4]->m_fPwmMin + 50, g_poDataMonster->m_apJoinArray[4]->m_fPwmMax);  ///////<-hardcoded!
  }
  else if(g_fZ >= 0.2 && g_fZ< 0.3){
    iPwmValue = mapfloat(g_fY, 0.1, 0.2, g_poDataMonster->m_apJoinArray[4]->m_fPwmMin + 30, g_poDataMonster->m_apJoinArray[4]->m_fPwmMax);  ///////<-hardcoded!
  }
  else if(g_fZ >= 0.3 && g_fZ< 0.6){
    iPwmValue = mapfloat(g_fY, 0.3, 0.6, g_poDataMonster->m_apJoinArray[4]->m_fPwmMin, g_poDataMonster->m_apJoinArray[4]->m_fPwmMax);  ///////<-hardcoded!
  }
  else{
    iPwmValue = mapfloat(g_fY, SENSOR_X_MIN, SENSOR_X_MAX, g_poDataMonster->m_apJoinArray[4]->m_fPwmMin, g_poDataMonster->m_apJoinArray[4]->m_fPwmMax);

  }
  target[4]= iPwmValue;

  for (int i=0; i<5; i++){
    magnitude[i] = target[i] - location[i];


}

void loop(){ 

  // RUN JOINT CALIBRATION ROUTINE
#ifdef CALIBRATING 
