 /**
  * The "state machine" that handles action.
  */
-void action_run()
+void actionRun()
 {
   /*
   Serial.print("action_run ");

 
  servo_pinger.attach(6);
  servo_pinger.write(random(1100, 1800));
  timer.setTimeout(500, servo_detach);
}

void servo_detach()
{
  servo_pinger.detach(); 
  //EXPERIMENTAL!!
  action_trundle();
}

void servo_detach_all()
{
  servo_pinger.detach();
}

Ping functions
********************************************************************************/

void pingStart()
{
  if (ping_timer == 0) {
    ping_timer = timer.setInterval(ping_delay, pingMeasure);
  } else {
    timer.enable(ping_timer); 
  }
  Serial.println("Ping started"); 
}

void pingStop()
{
  timer.disable(ping_timer);
  Serial.println("Ping stopped"); 
}

void pingMeasure()
{
  unsigned int cm = sonar.ping_cm(); // Send a ping, get ping distance in cm.
  //unsigned int cm = 0;
