[foobert]

i know this isn't the problem you're currently working on, but it will be soon.

in your replay code at the end of the while loop i will be 90. the if statement that follows will fail because i will not be greater than 90, so your pwm will stay at the last recorded value and you bot will keep running. very bad.

there is no need for a conditional at all, since when the loop stops you want the robot to stop.