 #include <adk.h>
 #define BUFFSIZE   255
 #define MAX_POWER  400
-#define DELAY 50
+#define DELAY 10
 
 // Android --> Arduino codes
 #define CMD_NULL_VALUE 0

// Debug mode for communication
bool COM_DEBUG_MODE = false;
// Debug mode for movment
bool MOV_DEBUG_MODE = true;
uint8_t inBuffer[BUFFSIZE];
uint8_t outBuffer[BUFFSIZE];
char inStringBuffer[BUFFSIZE];

    char*a;
    if (strlen(a = readFromADK()) > 0) {
      if (decodeCommand(a, &command, &param1, &param2)) {
        if (MOV_DEBUG_MODE){
          Serial.print("COMMAND: Command "); Serial.print(command); Serial.print(", param1 "); Serial.print(param1); Serial.print(", param2 "); Serial.print(param2); Serial.println(", received and is beign processed!");
        }
        switch (command) {
          case CMD_LEFT:
          turnLeft(140);//param1
          break;
          case CMD_RIGHT:
          turnRight(140);//param1
          break;
          case CMD_STOP:
          stop(HARD);
          break;
          default:
          stop(SOFT);
