 
         moveJoints(2, stepDown);
 
-        stop = true;
+        if (random(2))
+        {
+            turnLeft();
+        }
+        else
+        {
+            turnRight();
+        }
+
+        startStepFoward();
+
         return;
     }
 }
 
-void setup() {
+
+void setup()
+{
     pinMode(SR04_TRIGGER_PIN, OUTPUT);
     pinMode(SR04_ECHO_PIN, INPUT);
+
+    randomSeed(analogRead(RANDOM_SEED_PIN));
     
     rightAnkle.init();
     leftAnkle.init();

    return duration * 0.01716;
}

void stepForward() {
    Move stepLeft[] = {
        Move(&rightAnkle, Joint::POS_MIN, Joint::POS_MIDDLE),

            joint->setPosition(static_cast<float>(pos));
        }

        delayMicroseconds(DELAY);
    }
}

