 const uint8_t rangeLimit_Warning3 = 25;
 const uint8_t rangeLimit_Stop = 15;
 
-const uint16_t rangeLimit_RotateFor = 250;
+const uint16_t rangeLimit_RotateFor = 500;
 unsigned long rangeLimit_Timestamp = 0;
 
 bool wheelSpinCompleted = true;

        return;
    }

    uint8_t motorSpeed = 1 * 255;
    uint32_t color = LEDStrip.Color(0, 255, 0);
    if(range < rangeLimit_Warning1) { color = LEDStrip.Color(127, 255, 0);}
    if(range < rangeLimit_Warning2) { color = LEDStrip.Color(255, 255, 0); }
    if(range < rangeLimit_Warning3) { motorSpeed = 0.8 * 255; color = LEDStrip.Color(255, 127, 0); }
    if(range < rangeLimit_Stop) { color = LEDStrip.Color(255, 0, 0); }

    ColorSet(color);

    // obstacle is further away than X cm
    if(wheelSpinCompleted && range > rangeLimit_Stop)
    {
        // drive
        SetMotor(motorPin1_1, motorPin1_2, motorSpeed);
        SetMotor(motorPin2_1, motorPin2_2, motorSpeed);

        rangeLimit_Timestamp = millis();
    }

    return servoPos;
}

void SetLightByRange(long range)
{
    uint32_t color = LEDStrip.Color(0, 255, 0);
    if(range < rangeLimit_Warning1) { color = LEDStrip.Color(127, 255, 0);}
    if(range < rangeLimit_Warning2) { color = LEDStrip.Color(255, 255, 0); }
    if(range < rangeLimit_Warning3) { color = LEDStrip.Color(255, 127, 0); }
    if(range < rangeLimit_Stop) { color = LEDStrip.Color(255, 0, 0); }

    ColorSet(color);
}


void loop()
{
