     }
 
     if (debugMode) {
+      // the "checkDistanceInterval" and "distanceToStop" is dynamically set based on how fast
+      // the robot is moving. this output shows us every 2 seconds how its configured for the moment
       runEvery(2000) {
         Serial.print("Safety drive: check interval "+String(checkDistanceInterval)+
         ", distance to stop: "+String(distanceToStop)+"\n");

    if (servo.read() > argument) {
      waitTimeInMs = servo.read() - argument;
    } else {
      waitTimeInMs = servo.read() + argument;
    }

    servo.write(argument);
    
    Serial.print(waitTimeInMs);
    
    delay(waitTimeInMs * 3);
    
    servo.detach();
    
    digitalWrite(ledPin, LOW);


String lookDirection(int argument) {
  String result;

  if (argument >= 0 && argument <= 180) {
  
    digitalWrite(ledPin, HIGH);
