     unsigned long startTime = millis();
     int pulse = pitchToPulse(pitch);
     int startstoppulse = max(maxPulse, pulse);
-    digitalWrite(LED_BUILTIN, HIGH);
     digitalWrite(dirPin, dir);
     delayMicroseconds(pulseWidth);
     for (int i=0; i<accelSteps; i++) {

        } else if (data == rQuery) {
            findsensor(maxPulse);
            sendid();
            flashled();
        } else if (data == rTurn) {
            turn(halfTurns, startPitch, dir);
        } else if (data == rGliss) {

        if (i>(accelSteps - decelLook) && digitalRead(sensorPin)) break;
    }
    findsensor(max(maxPulse, endpulse));
}

int timedturn(int halfturns, int duration, bool dir) {
