diff --git a/examples/vernie_roaming.js b/examples/vernie_roaming.js
index dee7579..576c07e 100644
--- a/examples/vernie_roaming.js
+++ b/examples/vernie_roaming.js
@@ -21,27 +21,27 @@ const Modes = {
 
 const turnRight = async (vernie, multiplier = 1) => {
     await vernie.wait([
-        vernie.setMotorAngle("A", 300 * multiplier, 50),
-        vernie.setMotorAngle("B", 300 * multiplier, -50)
+        vernie.setMotorAngle("A", 270 * multiplier, 50),
+        vernie.setMotorAngle("B", 270 * multiplier, -50)
     ]);
 }
 
 
 const turnHeadRight = async (vernie, multiplier = 1) => {
-    await vernie.setMotorAngle("D", 35 * 1, 20);
+    await vernie.setMotorAngle("D", 25 * multiplier, 20);
 }
 
 
 const turnLeft = async (vernie, multiplier = 1) => {
     await vernie.wait([
-        vernie.setMotorAngle("A", 300 * multiplier, -50),
-        vernie.setMotorAngle("B", 300 * multiplier, 50)
+        vernie.setMotorAngle("A", 270 * multiplier, -50),
+        vernie.setMotorAngle("B", 270 * multiplier, 50)
     ]);
 }
 
 
 const turnHeadLeft = async (vernie, multiplier = 1) => {
-    await vernie.setMotorAngle("D", 35 * 1, -20);
+    await vernie.setMotorAngle("D", 25 * multiplier, -20);
 }
 
 
@@ -51,22 +51,19 @@ const scan = (vernie) => {
         vernie.on("distance", async (port, distance) => {
             lastDistance = distance;
         });
-        await vernie.wait([
-            turnRight(vernie),
-            turnHeadRight(vernie)
-        ]);
+        await turnHeadRight(vernie);
+        await turnRight(vernie);
+        await turnHeadLeft(vernie);
         await vernie.sleep(1000);
         const rightDistance = lastDistance;
-        await vernie.wait([
-            turnLeft(vernie, 2),
-            turnHeadLeft(vernie, 2)
-        ]);
+        await turnHeadLeft(vernie);
+        await turnLeft(vernie, 2);
+        await turnHeadRight(vernie);
         await vernie.sleep(1000);
         const leftDistance = lastDistance;
-        await vernie.wait([
-            turnRight(vernie),
-            turnHeadRight(vernie)
-        ]);
+        await turnHeadRight(vernie);
+        await turnRight(vernie);
+        await turnHeadLeft(vernie);
         await vernie.sleep(1000);
         const forwardDistance = lastDistance;
         return resolve({ leftDistance, forwardDistance, rightDistance });
@@ -95,31 +92,27 @@ poweredUP.on("discover", async (vernie) => { // Wait to discover Vernie
 
                 const { leftDistance, forwardDistance, rightDistance } = await scan(vernie);
 
-                if (rightDistance >= forwardDistance && rightDistance >= leftDistance) {
+                if (rightDistance >= forwardDistance && rightDistance >= leftDistance && rightDistance > 200) {
                     // Go right
-                    await vernie.wait([
-                        turnRight(vernie),
-                        turnHeadRight(vernie)
-                    ]);
+                    await turnHeadRight(vernie);
+                    await turnRight(vernie);
+                    await turnHeadLeft(vernie);
                     await vernie.sleep(1000);
-                    await vernie.wait([
-                        vernie.setMotorSpeed("AB", 50),
-                        turnHeadLeft(vernie)
-                    ]);
-                } else if (leftDistance >= forwardDistance && leftDistance >= rightDistance) {
+                    await vernie.setMotorSpeed("AB", 50);
+                } else if (leftDistance >= forwardDistance && leftDistance >= rightDistance && leftDistance > 200) {
                     // Go left
-                    await vernie.wait([
-                        turnLeft(vernie),
-                        turnHeadLeft(vernie)
-                    ]);
+                    await turnHeadLeft(vernie);
+                    await turnLeft(vernie);
+                    await turnHeadRight(vernie);
                     await vernie.sleep(1000);
-                    await vernie.wait([
-                        vernie.setMotorSpeed("AB", 50),
-                        turnHeadRight(vernie)
-                    ]);
+                    await vernie.setMotorSpeed("AB", 50);
                 } else {
-                    // Go forward
-                    vernie.setMotorSpeed("AB", 50);
+                    // Turn around
+                    await turnHeadRight(vernie);
+                    await turnRight(vernie, 2);
+                    await turnHeadLeft(vernie);
+                    await vernie.sleep(1000);
+                    await vernie.setMotorSpeed("AB", 50);
                 }
 
                 mode = Modes.ROAMING;
@@ -127,6 +120,42 @@ poweredUP.on("discover", async (vernie) => { // Wait to discover Vernie
             }
         });
 
+        setInterval(async () => {
+            if (vernie.current > 20 && mode === Modes.ROAMING) { // If we're roaming around and we detect an object in front of us, stop and scan
+                
+                mode = Modes.AVOIDING;
+                await vernie.setMotorSpeed("AB", -30, 1500);
+                
+                const { leftDistance, forwardDistance, rightDistance } = await scan(vernie);
+
+                if (rightDistance >= forwardDistance && rightDistance >= leftDistance && rightDistance > 200) {
+                    // Go right
+                    await turnHeadRight(vernie);
+                    await turnRight(vernie);
+                    await turnHeadLeft(vernie);
+                    await vernie.sleep(1000);
+                    await vernie.setMotorSpeed("AB", 50);
+                } else if (leftDistance >= forwardDistance && leftDistance >= rightDistance && leftDistance > 200) {
+                    // Go left
+                    await turnHeadLeft(vernie);
+                    await turnLeft(vernie);
+                    await turnHeadRight(vernie);
+                    await vernie.sleep(1000);
+                    await vernie.setMotorSpeed("AB", 50);
+                } else {
+                    // Turn around
+                    await turnHeadRight(vernie);
+                    await turnRight(vernie, 2);
+                    await turnHeadLeft(vernie);
+                    await vernie.sleep(1000);
+                    await vernie.setMotorSpeed("AB", 50);
+                }
+
+                mode = Modes.ROAMING;
+
+            }
+        }, 2000);
+
     }
     
 });
\ No newline at end of file