   } 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, LOW); // Channel A backward
    digitalWrite(motorB_direction, HIGH); // Channel B forward
    analogWrite(motorA_pwm, 130);
    analogWrite(motorB_pwm, 130);   
    motion_state = M_ROTATE_RIGHT; 
  
}

//@todo: set speed
    digitalWrite(motorA_direction, LOW); // Channel A backward
    digitalWrite(motorB_direction, LOW); // Channel B backward
    analogWrite(motorA_pwm, 200); // Channel A at half speed 
    analogWrite(motorB_pwm, 200); // Channel B at half speed   
    motion_state = M_REV; 
  
}
