        DataString = DecodeString.substring(DecodeSplit+1);
     }
 
-    String dcd = String("dcd::");
-    Serial.print(dcd+CMDString+"::"+DataString+"\n");
-
-     // Main Drive Motor Control, value from -100 to 100
-     if (CMDString == CMD_IN_DRIVE_MOTOR_CTRL)
-     {
+    // Main Drive Motor Control, value from -100 to 100
+    if (CMDString == CMD_IN_DRIVE_MOTOR_CTRL)
+    {
        int DataSplit = DataString.indexOf(',');
        String LeftStr = String("0");
        String RightStr = String("0");
        if (DataSplit == -1)
        {
-          LeftStr = DecodeString;
+          LeftStr = DataString;
        }
        else
        {
-         LeftStr = DecodeString.substring(0,DataSplit);
-         RightStr = DecodeString.substring(DataSplit+1);
+         LeftStr = DataString.substring(0,DataSplit);
+         RightStr = DataString.substring(DataSplit+1);
        }
        
        leftMotorSpeed(LeftStr.toInt());
        rightMotorSpeed(RightStr.toInt());
-     }
-     else if (CMDString == CMD_IN_PROGRAM)
-     {
+    }
+    else if (CMDString == CMD_IN_PROGRAM)
+    {
        // SPI Pins back to High for ISP
        digitalWrite(PIN_SPI_SS,   HIGH);
        digitalWrite(PIN_SPI_MOSI, HIGH);

int PIN_SPI_MISO = 12;
int PIN_SPI_SCK  = 13;

// Command Strings
// // Incoming
String CMD_IN_DRIVE_MOTOR_CTRL = "DMC";

    char inChar = (char)Serial.read();
    // add it to the inputString:
    inputString += inChar;
    
    // if the incoming character is a newline, set a flag
    // so the main loop can do something about it:
    if (inChar == '\n') {
