 const uint8_t motorPin1_2 = 5;
 
 const uint8_t motorPin2_1 = 7;
-const uint8_t motorPin2_2 = 8;
+const uint8_t motorPin2_2 = 6;
 
 const uint8_t motorEnablePin = 3;
 

const uint16_t initialDelay = 2500;

// Ranges and Data
const uint8_t rangeLimit_Warning1 = 50;
const uint8_t rangeLimit_Warning2 = 40;
const uint8_t rangeLimit_Warning3 = 25;
const uint8_t rangeLimit_Stop = 15;

const uint16_t rangeLimit_RotateFor = 1000;
unsigned long rangeLimit_Timestamp = 0;


    // obstacle is further away than X cm
    // and no obstacle in front of the IR sensor
    if(!obstacleFound && wheelSpinCompleted && rangeCenter > rangeLimit_Stop)
    {
        rangeLimit_Timestamp = uptime;

