     analogWrite(PWM_LEFT, LOW);
     analogWrite(PWM_RIGHT, LOW);
     } else{
+      currentRightVelocity=currentLeftVelocity=LOW;
       setSpeedAndGo(LOW,LOW);
     }
     delay(DELAY / 10);

    char*a;
    if (strlen(a = readFromADK()) > 0) {
      if (decodeCommand(a, &command, &param1, &param2)) {
        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(param1);
          break;
          case CMD_RIGHT:
          turnRight(param1);
          break;
          case CMD_STOP:
          stop(SOFT);
          break;
          default:
          stop(SOFT);

#include <adk.h>
#define BUFFSIZE   255
#define MAX_POWER  400
#define DELAY 10

// Android --> Arduino codes
#define CMD_NULL_VALUE 0
