         Serial.println("Step right!");
       }
       break;
+      
     case 'f':
     case 'F': // Front direction
       Serial.println("Go!");

    case 'd':
    case 'D':
      Serial.println("Right on");
      setRightSpeed( 30);
      break;

    case 'l':
    case 'L':
      Serial.println("left on");
      setLeftSpeed( 30);
      break;

    case 'j':
    case 'J':
      JUMPER != JUMPER;
      if (JUMPER) Serial.println("Jumper On!");
      else Serial.println("Jumper off");
      break;


    default:
      Serial.print("Unkwnown command (");

  stopMotors();
}

/**
 * Go backward
 * @param int speed - between 0 and 100
 **/
void goBackward(int speed) {
  setLeftSpeed(-speed);
  setRightSpeed(-speed);
}

/**
 * Go forward
 * @param int speed - between 0 and 100
 **/
void goForward(int speed) {
  setLeftSpeed(speed);
  setRightSpeed(speed);
}

// Servo control methods
/**
 * Do a smooth sploch! (vertical to horizontal)
 **/
void smoothSploch () {
  for (int i = 135; i > 30; i--) {
    starterServo.write(i);
    delay(50);
  }
  starterServo.detach();
}

/**
 * Put the robot in vertical mode
 **/
void prepareToStart () {
  starterServo.attach(starterServoPin);
  starterServo.write(135);
}


void setup() {
  // Motor Right
