 
       //-- MODE 2 - Obstacle detector mode
        if(obstacleDetected){
-              Otto.jump(1,700);
+              Otto.playGesture(OttoHappy);
               Otto.sing(S_superHappy);
               Otto.walk(1,1300,-1);
-            
-
+                  Otto.playGesture(OttoSad);
+                  Otto.swing(2,800,20); 
+                  Otto.playGesture(OttoAngry);
+                  Otto.playGesture(OttoLove);
+                  Otto.shakeLeg(1,T,1); 
+                  Otto.playGesture(OttoVictory);
+                  Otto.crusaito(1,T,moveSize,1);
+                  Otto.sing(S_mode1);
             delay(100);
             obstacleDetector();
             delay(100);

    Serial.flush();
}


//-- Function to send program ID
void requestProgramId(){


    Serial.println(F("%%"));
    Serial.flush();
}

//-- Function to send Ack comand (A)
void sendAck(){
