--- a/start/beep.ino	Fri Jul 10 21:14:19 2015 +0200
+++ b/start/beep.ino	Fri Jul 24 14:22:16 2015 +0200
@@ -1,6 +1,6 @@
-#define BEEP_PIN 3
+#define BEEP_PIN 13
 
-bool beep_mute = true;
+bool beep_mute = false;
 
 
 void beep_setup() {

--- a/start/clock.h	Fri Jul 10 21:14:19 2015 +0200
+++ b/start/clock.h	Fri Jul 24 14:22:16 2015 +0200
@@ -1,7 +1,7 @@
 #ifndef CLOCK_H
 #define CLOCK_H
 
-#define FPS 10
+#define FPS 25
 
 const unsigned char TICK = 1000 / FPS;
 void tick(unsigned int ms);

--- a/start/creep.ino	Fri Jul 10 21:14:19 2015 +0200
+++ b/start/creep.ino	Fri Jul 24 14:22:16 2015 +0200
@@ -2,11 +2,8 @@
 #include "misc.h"
 #include "leg.h"
 #include "clock.h"
-#include "beep.h"
 
 
-const unsigned int tones[4] = {880, 988, 1318, 1175};
-
 /* Creep gait parameters. */
 #ifdef TOTE2
 #define SPEED 1
@@ -106,12 +103,10 @@
 void _creep_step(unsigned char leg) {
     _shift_body(leg);
     _on_ground[leg] = false;
-    beep(440, 5);
     for (unsigned char step = 0; step < RAISE_STEPS; ++step) {
         move_leg_by(leg, 0, 0, RAISE);
         _creep_tick();
     }
-    beep(tones[leg], 25);
     move_leg(
         leg,
         HOME + (_shift_x + creep_dx * STRIDE) * LEG_X[leg] + creep_spread,
@@ -120,7 +115,6 @@
     );
     _creep_tick();
     _creep_tick();
-    beep(1865, 5);
     for (unsigned char step = 0; step < RAISE_STEPS - 1; ++step) {
         move_leg_by(leg, 0, 0, -RAISE);
         _creep_tick();

--- a/start/ir.ino	Fri Jul 10 21:14:19 2015 +0200
+++ b/start/ir.ino	Fri Jul 24 14:22:16 2015 +0200
@@ -6,7 +6,6 @@
 #include "IRLremote.h"
 
 
-#define LED_PIN 13
 #define IR_INTERRUPT 0 // Sensor on PIN 2
 #define IR_PROTOCOL IR_NEC
 #define IR_ADDRESS 0xFF00
@@ -36,21 +35,13 @@
 
 void ir_setup() {
     IRLbegin<IR_ALL>(IR_INTERRUPT);
-    pinMode(LED_PIN, OUTPUT);
-    digitalWrite(LED_PIN, LOW);
-    Serial.begin(115200);
 }
 
 void ir_loop() {
     static uint32_t last=0;
     uint32_t IRcommand = 0;
-    bool led = true;
 
     if (!IRLavailable()) {
-        if (led) {
-            digitalWrite(LED_PIN, LOW);
-            led = false;
-        }
         return;
     }
 
@@ -65,7 +56,6 @@
     last = IRcommand;
 
     beep(1319, 50);
-    digitalWrite(LED_PIN, HIGH);
 
     switch (IRcommand) {
         case KEY_UP:    // Up arrow.
@@ -109,7 +99,6 @@
             break;
         case KEY_POWER:    // Power.
         case KEY_POWER2:    // Power.
-            digitalWrite(LED_PIN, LOW);
             robot_mode = 0;
             break;
         case KEY_SEARCH:    // Search.

--- a/start/sharp.ino	Fri Jul 10 21:14:19 2015 +0200
+++ b/start/sharp.ino	Fri Jul 24 14:22:16 2015 +0200
@@ -1,15 +1,38 @@
 #include "creep.h"
-
+#include "beep.h"
 
 void sharp_setup() {
     pinMode(A4, INPUT);
+    Serial.begin(115200);
 }
 
 
 void sharp_loop() {
+    int distance = 0;
+    for (unsigned char i=0; i<10; ++i) {
+        distance += analogRead(A4);
+    }
+    distance /= 10;
+    Serial.println(distance);
     // Stop if there is an object closer than 15cm ahead.
-    if (analogRead(A4) > 465) {
+    if (distance > 660) {
+        creep_dx = 0;
+        creep_dy = -1;
+        creep_rotation = 0;
+        beep(352, 100);
+    } else if (distance > 480) {
         creep_dx = 0;
         creep_dy = 0;
+        creep_rotation = 0;
+    } else if (distance > 420) {
+        creep_dx = 0;
+        creep_dy = 1;
+        creep_rotation = 0;
+        beep(704, 100);
+    } else {
+        creep_dx = 0;
+        creep_dy = 0;
+        creep_rotation = PI/45;
+        beep(1408, 100);
     }
 }