         case M_ROTATE_RIGHT:
           if (action_done) {
             Serial.println("SEARCH DONE");
-            // Done the sweep, stop.
-            actionStop(); 
-            
-            // Stop pinging
-            pingStop(); 
-            
-            
             // Trundle away
             actionTrundle();
           }
           break;
+
       }
       break;
       

  Serial.println("SEARCHING");
  // Set the state, so the action can be handeled by the state machine.
  action_state = A_PINGSEARCH;
}

void actionTimeoutStart(int duration)

  
  // If the reading of the thumbstick is not the same as when calibrated,
  // we've hit something.
  if (action_state == A_PINGSEARCH || action_state == A_WHISKERSEARCH_LEFT || action_state == A_WHISKERSEARCH_RIGHT) {
    
    // Doing a search already, so don't interfere with a whiskers bump. 
    
  } else if (val > whiskers_horiz_default + whiskers_threshold) {
    Serial.println(whiskers_horiz_default);
    Serial.println("BUMP LEFT!");
    // Don't hit the obstacle.
    motionStop();
    soundDamage();
      
    actionWhiskerSearchLeft();
  
  } else if (val < whiskers_horiz_default - whiskers_threshold) {
    Serial.println(whiskers_horiz_default);
    Serial.println("BUMP RIGHT!");
    // Don't hit the obstacle.
    motionStop();
    soundDamage();
      
    actionWhiskerSearchRight();
  }

}

/********************************************************************************
