   Serial.begin( 9600 );
 
   // Initialize components
-  baseShield.begin();  
+  baseShield.begin();
   //infraredReceiver.begin();  
   ultraSensor.begin();
 
-  //moveItemStepper.setSpeed( 12 );
-  moveItemStepper.setMaxSpeed( 6400.0 );
-  moveItemStepper.setAcceleration( 38100.0 );
+  moveItemStepper.setMaxSpeed( maxSpeed );
+  moveItemStepper.setAcceleration( acceleration );
 
   servoDriver.Servo1_begin();
 

/* Flapping servo */
int SERVO1_UP = 130;
int SERVO1_DOWN = 115;

/* Move item stepper */
int portNo = PORT_3;
int pulseLength = 30;

void setup() {
  // Initailize FSM

      Serial.println( "RAISE TOP FLAP" );
      servoDriver.writeServo1( SERVO1_UP );
      fsmState = STATE_MOVE_ITEM_OUT_PHASE_ONE;
      Serial.println( "->> MOVE ITEM OUT PHASE ONE" );
      break;

    case STATE_MOVE_ITEM_OUT_PHASE_ONE: 
      if ( stopMicroSwitch == LOW && moveItemStepper.distanceToGo() == 0 ) {
        moveItemStepper.move( moveItemOutSteps );
        fsmState = STATE_MOVE_ITEM_OUT_PHASE_ONE;
      } else if ( moveItemStepper.distanceToGo() != 0) {
        moveItemStepper.run();
        fsmState = STATE_MOVE_ITEM_OUT_PHASE_ONE;
      } else {
        fsmState = STATE_MOVE_ITEM_OUT_PHASE_TWO;
      }
      break;
