       
       fwd_range_cm = getForwardRangeCm();
 
-      if ((fwd_range_cm <= 30) && (forward_speed == 0)) {
+      if ((fwd_range_cm <= distance_stop) && (forward_speed == 0)) {
           Serial.println("Object closer than 40cm!");
           Serial.print("Speed: ");
           Serial.println(forward_speed);

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

      
      else 
    
      if ((fwd_range_cm > distance_stop) && (fwd_range_cm < distance_slowdown) && (forward_speed > speed_slow )) { 
          forward_speed = speed_slow;
          goForward(forward_speed);
          tone(SPEAKER_PIN, NOTE_C8, 10);
          Serial.println("Close to obstacle - SLOWING down!");
