         if (lookAng > 180) scanDir = -1;
         if (lookAng < 0) scanDir = 1;
       }
-      lidServo.write(lookAng);
+      lookAt(lookAng);
       lastScanMove = millis() + SCAN_SPEED;
     }
 }

    digitalWrite(LED_BLUE_PIN, b);
}

static void initBuzzer() {
    pinMode(BUZZER_PIN, OUTPUT);
}

static void playStartupJingle() {
    for (byte i=0; i<3; i++) {
        analogWrite(BUZZER_PIN, 100 + i*50);
        delay(200 + i*50);
    }

    analogWrite(BUZZER_PIN, 0);
}

static void playGrumpy() {
    for (byte i=0; i<2; i++) {
        analogWrite(BUZZER_PIN, 250 - i*100);
        delay(100 + i*100);
    }

    analogWrite(BUZZER_PIN, 0);
}



        setLEDColour(1,0,0);  // Red, because we hit something
        Serial.println("Ouch!");
        bot.emergencyStop();
        bot.buzz(250);
        bot.drive(-20);
    }

    // Insert some recovery based on which bumper was hit
