   RIGHT
 };
 direction servoRangeDirection = NONE;
+bool servoTriggerActive = true;
+
+direction servoLastScan = NONE;
+int servoCountHelper = 5;
 
 // IR obstacle detection
 int obstaclePin = A1;

    }
}

void loop()
{
    uint32_t uptime = millis();
    uint16_t servoPos = ServoMotor.read();

    Serial.print(servoPos);
    Serial.print(" - ");
    Serial.println(rangeCenter);

    GetRange(servoPos, wheelSpinCompleted);

    // Wait for initial scans before performing any actions
    if(uptime < initialDelay)

    // attach servo pin and set to initial direction
    ServoMotor.attach(servoPin);
    ServoMotor.write(servoCenter);
    //ServoMotor.detach();
}

void GetRange(int servoPos, bool rotating)
