         drivetrain.GoBackward(DRIVE_RATE);
         TMRArd_InitTimer(TRAVELLING_TIMER, TRAVELLING_TIME * 4);
         break;
+
+    case SEEKING_SERVER_2:
+        SwitchSpin();
+        time = millis();
+        break;
+
     default: break;
     }
 }

        break;

    case ALIGNING_WITH_SERVER:
        SwitchSpin(true);
        time = millis();
        isSeekingLine = false;
        break;

            currState = SEEKING_EXCHANGE;
            Transition(SEEKING_EXCHANGE);
        }
        // at the exchange. Align with it before dropping coins.
        else if (bumpers.IsBackPressed() || TMRArd_IsTimerExpired(TRAVELLING_TIMER))
        {
            TMRArd_ClearTimerExpired(TRAVELLING_TIMER);

            drivetrain.GoBackward(DRIVE_RATE);
            TMRArd_InitTimer(ALIGNING_TIMER, ALIGNING_TIME);
            currState = ALIGNING_WITH_EXCHANGE_WALL;
        }
        break;

    case ALIGNING_WITH_EXCHANGE_WALL:
        // assume you're perfectly aligned. Start dispensing.
        if (TMRArd_IsTimerExpired(ALIGNING_TIMER))
        {
            drivetrain.Stop();
            TMRArd_ClearTimerExpired(ALIGNING_TIMER);

            currState = DISPENSING;
            turntable.TurnCW(TURNTABLE_RATE);
            TMRArd_InitTimer(DISPENSER_TIMER, 5 * ONE_SEC);
        }
        break;

