 	PWM_L = 0;
 	PWM_R = 0;
   }*/
+    Serial.print('$');
+  Serial.print(actualSpeedL);
+  Serial.print(',');
+  Serial.print(actualSpeedR);
+  Serial.print(',');
+  Serial.print(dT_sec);
+  Serial.print('\n');
   desiredSpeedL = 1.0;
   desiredSpeedR = 1.0;
 

  pinMode(rightDisable, OUTPUT);
  pinMode(leftForwardSpeed, OUTPUT);
  pinMode(leftBackwardSpeed, OUTPUT);
  attachInterrupt(1, tickRight, CHANGE);
  attachInterrupt(0, tickLeft, CHANGE);

  delay(1000);


  Serial.println();
  Serial.flush();
  Serial.println("Ready");
}

boolean gotCommand = false;
