   
   pinMode(GALV_PIN, INPUT);
   pinMode(stopOnBlackPin, INPUT);
+
+  pinMode(WHISKER_L_PIN, INPUT); 
+  pinMode(WHISKER_R_PIN, INPUT);
   
   servoArm.attach(ARM_SERVO_PIN);
 

    // State 2: Move towards a cylinder using IR to correct the path,
    // stop the robot once the element gets a connection.
    catch_cylinder();
    
  } else if (currentState == STATE_MOVE_TO_BEACON) {
    // Go towards beacon

#include "IR_beacon_nav.h"
#include "ping_scan2.h"
#include "catch_cylinder.h"
#include "avoidance_whiskers.h"

void setup() {

