   // Loop through left & right a few times.
   if (count > 3) {
     count = 0;
+    Serial.println("Happy done");
     actionStop(); 
   }
   

  action_state = A_PINGSEARCH;
}

/**
 * Look for somewhare to go.
 */

{

  switch (action_state) {

    case A_PINGSEARCH:
      actionPingSearchStateMachine(motion_state);
      break;
      
    case A_WHISKERSEARCH_LEFT:
      actionWhiskerSearchLeftStateMachine(motion_state);
      break;
      
    case A_WHISKERSEARCH_RIGHT:
      actionWhiskerSearchRightStateMachine(motion_state);
      break;
      
    case A_DANCE1:
      actionDance1StateMachine(motion_state);
      break;
   
    case A_DANCE2:
      actionDance2StateMachine(motion_state);
      break;
      
    case A_BORED:
      break;
