 //@todo: set speed
     digitalWrite(motorA_direction, LOW); // Channel A backward
     digitalWrite(motorB_direction, HIGH); // Channel B forward
-    analogWrite(motorA_pwm, 130);
-    analogWrite(motorB_pwm, 130);   
+    analogWrite(motorA_pwm, 200);
+    analogWrite(motorB_pwm, 200);   
     motion_state = M_ROTATE_RIGHT; 
   
 }

//@todo: set speed
    digitalWrite(motorA_direction, LOW); // Channel A backward
    digitalWrite(motorB_direction, LOW); // Channel B backward
    analogWrite(motorA_pwm, 150); // Channel A at half speed 
    analogWrite(motorB_pwm, 150); // Channel B at half speed   
    motion_state = M_REV; 
  
}

  } else {
    
    // Watch for obstacles as we are not doing a ping search.
    if (cm > 0 && cm < 20) {
      // too close! 
      Serial.println("Too close!");
      
