 void ping_measure()
 {
   unsigned int cm = sonar.ping_cm(); // Send a ping, get ping distance in cm.
-  
+  //unsigned int cm = 0;
   if (action_state == A_PINGSEARCH) {
     
     // looking for a new way to go.


void loop() 
{
  // Let the timers do their thing.
  timer.run();
  action_run();

  digitalWrite(motorA_brake, LOW);   // Disengage the Brake for Channel A
  digitalWrite(motorB_brake, LOW);   // Disengage the Brake for Channel B
  
  
  batteryLevel();
  
  
  action_stop();
  
  // Start moving!
  //timer_action = timer.setTimeout(100, action_trundle);
  //timer_action = timer.setTimeout(100, experimental_servoMove);

  int timer_battery = timer.setInterval(battery_delay, batteryLevel);
  Serial.print("Battery tick started id=");
