   return (X_factor*value_x + Y_factor*value_y*sign(value_x));
 }
 
-float compute_Up_Motor_Raw_Speed(float value_Z){
+float compute_Up_Motor_Raw_Speed(float value_z){
   return (Z_factor*value_z);
 }
 

}

void serialEvent(){
  if (Serial.available() > 0) {
    // read the speed commandqs for each wheel
    incomingByte_X = Serial.read();
    incomingByte_X= constrain(incomingByte_X, -100,100);
    incomingByte_Y = Serial.read();

        digitalWrite(motor_up_forward, LOW);
        digitalWrite(motor_up_backward, HIGH);
    }
    //some debugging info
    //Serial.write(motor_right_pwm);
    //Serial.write(motor_left_pwm);
    //Serial.write(motor_up_pwm);
    Serial.flush();   
  }
}
