     }
 
     if (debugMode) {
+      // the "checkDistanceInterval" and "distanceToStop" is dynamically set based on how fast
+      // the robot is moving. this output shows us every 2 seconds how its configured for the moment
       runEvery(2000) {
         Serial.print("Safety drive: check interval "+String(checkDistanceInterval)+
         ", distance to stop: "+String(distanceToStop)+"\n");

  servo.write(180);
  delay(500);
  servo.write(90);
  
  delay(350);
  
  servo.detach();

    if (servo.read() > argument) {
      waitTimeInMs = servo.read() - argument;
    } else {
      waitTimeInMs = argument - servo.read();
    }
    
    waitTimeInMs = (waitTimeInMs + 100) * 2;
    
    servo.write(argument);

    // give the servo some time to do its job
    delay(waitTimeInMs);

    // we detach the servo variable from its pin to save energy
    servo.detach();
    
    digitalWrite(ledPin, LOW);
