               if(command_status == 1){
                 encoder_report();
               }
+            case 'j':
+              if(command_status == 1){
+                encoder_calibrate();
+              }
+              break;
             break;
             default:
               //Serial.print("Hello11");

  Serial.print('-');
  Serial.print(irB_counter);
  Serial.print('&');
}

//------------------CODEs---------------------

int irA_counter = 0;
int irB_counter = 0;

int irA_block = 0;
int irB_block = 0;

//-------------------FUNCTIONs----------------
void stop_motor_ALL(){
  
