 }
 
 
+/**
+ * avoid IR sensor spikes
+ * @type {boolean}
+ */
 bool Eyes::is_within_range(SharpIR* sensor, int index) {
   for(int i=0; i<5; i++) {
     int distance = sensor->distance();

  return true;
}

bool Eyes::is_within_range(Ultrasound* sensor, int index) {
  for(int i=0; i<5; i++) {
    int distance = sensor->dist();

///////////////////////////////////////////////////////////////////////////////////////////////////
int Eyes::output_reading_ultra(int index) {
  int dis = this->get_ultra_reading(index);

  if(dis==-1) return -1; // avoid reading as 2590 issues 

  dis -= Config::VIRTUAL_OFFSET;

