 
       if (dist < DIST_CLOSE) {
         // object close, turn to face or drive towards if already facing
+        blankScanCount = 0;
+        
         if (lookAng < 90) {
           action = Turn;
           bot.turn(-1);

enum Activity
{
  Idle,
  Seek,
  Turn,
  Advance,

    // Update LED
    switch(action) {
      case Idle:
      case Bored:
        setLEDColour(0, 0, 0);
        break;
      case Seek:
