   char aChar;
   int val;
   int count = 1000;
-
-  memset(&readline[0], 0, sizeof(readline));
+  
+  while(Serial.available()) char getData = Serial.read(); //Clear buffer
   
   do {
     count++;

{

  requestedX = 0;
  requestedY = 0;
  requestedR = -1; 
  currentX = UPPERBOUND_X - 1;
  currentY = UPPERBOUND_Y - 1; 
  currentR = UPPERBOUND_R - 1;
  MoveXYR();
  
}

  pinMode(YMAX_PIN, INPUT);
  pinMode(RMIN_PIN, INPUT);
  pinMode(RMAX_PIN, INPUT);
  pinMode(USERBUTTON1_PIN, INPUT);
  pinMode(USERBUTTON2_PIN, INPUT);

  InitializeRoutine();
  
