 
   while(millis()-start < duration) {
     if (gotThere) {
-      r = random(loLimitSteps,hiLimitSteps);
+      r = random(int(hiLimitSteps*0.2),hiLimitSteps);
       theta = random(0,8);
     }
 

  rotarySetup();
  rotaryHome();
  scream(1);
  pickRoutine();
  scream(2);
}

void pickRoutine(){

void loop() {


  danceRandom(10000);
  // blockingGoHome();
  // delay(500);
  // // scream(4);
