         Serial.println(BMOTOR_BRAKE);
         */
         delay(100);
-        
-}
-
-void loop() { 
-  /*Serial.print(irA_value);
-  Serial.print(" ");
-  Serial.println(irB_value);
-  analogWrite(AMOTOR, 80);
-  analogWrite(BMOTOR, 80);
-  */  
+        //Serial.println("End of Setup");
+}
+
+void loop() {  
+  //Serial.println("Loop"); 
   command();
   //us_sensor();
 }

        //Serial.println("Welcome to the Arduino Command HQ");  
        myservo.attach(5);
        myservo.write(servoH_top);

        //pinMode(IRA, INPUT_PULLUP);
        //pinMode(IRB, INPUT_PULLUP);

        encoder_A.init(MOTOR_393_SPEED_ROTATIONS,MOTOR_393_TIME_DELTA);
        encoder_B.init(MOTOR_393_SPEED_ROTATIONS,MOTOR_393_TIME_DELTA);
        
        enableInterrupt(stop_button, stop_motor_ALL , CHANGE); 
        //enableInterrupt(IRA,encoderA,CHANGE);
        //enableInterrupt(IRB,encoderB,CHANGE);
        
        pinMode(AMOTOR, OUTPUT);
        pinMode(BMOTOR, OUTPUT);

            case 'i':
              if(command_status == 1){
                //move_in();
                variable_in();
              } 
              break;
              
            case 'x':
              if(command_status == 1){
                stop_motor();
              }
              break;
              
            case 'u':
              if(command_status == 1){
                //noInterrupts();
                us_sensor();
                //us_sensor();
