 int right_rw_max = 130;
 int right_mapped = right_zero;
 
+Servo head;
+ResponsiveAnalogRead head_dir(0, true, 0.00001);
+
 int speed = 0;
 int dir = 0;
 int more_space = 0;


  wheel_left.attach(MOTOR_OUT_L);
  wheel_right.attach(MOTOR_OUT_R);

  pinMode(DEBUGGER_ATTACHED_PIN, INPUT_PULLUP);
  delay(100);


  wheel_right.write(right_mapped);
  wheel_left.write(left_mapped);
  head_dir.update(90 - dir);
  head.write(head_dir.getValue());
}

int map_speed(int v, int mi, int zero, int ma)
