   } else {
     
     // Watch for obstacles as we are not doing a ping search.
-    if (cm > 0 && cm < 10) {
+    if (cm > 0 && cm < 20) {
       // too close! 
       Serial.println("Too close!");
       

//@todo: set speed
    digitalWrite(motorA_direction, HIGH); // Channel A forward
    digitalWrite(motorB_direction, LOW); // Channel B backward
    analogWrite(motorA_pwm, 130);
    analogWrite(motorB_pwm, 130);   
    motion_state = M_ROTATE_LEFT; 
  
}

        case M_ROTATE_LEFT:
          if (action_done) {
            Serial.println("SEARCH RIGHT");
            action_timeoutStart(2000); //@todo not fake the search!
            // Rotate left
            motion_rotateRight(); 
          }
