   if (foundCylinder) {
     stopMovement();
   } else {
+  irDistLeft = irDistance(IR_LED_PIN_LEFT, IR_REC_PIN_LEFT);         // Measure distance
+  irDistRight = irDistance(IR_LED_PIN_RIGHT, IR_REC_PIN_RIGHT);
   galvReading = digitalRead(GALV_PIN);
   if (galvReading == HIGH) {
     foundCylinder = true;
-    //Serial.println("Galv!");
+    stopMovement();
+    Serial.println("Galv!");
   } else if (irDistLeft < 0.8) {
     turnLeft();
   } else if (irDistRight < 0.8) {

const int BUTTON_PIN = 8;
const int SPEAKER_PIN = 7; // Status speaker, resistor?
const int ULTRA_SOUND_PIN = 6;
const int GALV_PIN = 10;

// Constants for servo
Servo servoRight;

    
    
  } else if (currentState == 3) {

  //Serial.print(irDistLeft);
  //Serial.print("  ");
