 
 void handleSerial(char command) {
   int leftspeed = 255;   // 255 is maximum speed
-  int rightspeed = 240;  // Adjust for skew 
+  int rightspeed = 255;  
   switch(command) // Perform an action depending on the command
   {
     case 'w'://Move Forward

  analogWrite (E2,b);
  digitalWrite(M2,HIGH);
  Serial.println("right");
}

void moveServoUp(int amount) {

    case 'D':
      right (leftspeed,rightspeed);
      break;
    case 'u': //Tilt UP
    case 'U':
      moveServoUp(SERVO_MOVE_INCREMENT);
      break;
    case 'j':
    case 'J':
      moveServoDown(SERVO_MOVE_INCREMENT);
      break;
    case 'h':
    case 'H':
      left(leftspeed,rightspeed,100);
      break;
    case 'k':
    case 'K':
      right(leftspeed, rightspeed, 100);
      break;
    default:
      stop();
