               }
               break;
               
-            case 'j':
-              if(command_status == 1){
-                encoder_calibrate();
-                //Serial.print("calibrate");
-              }
-              break;
-              
             break;
             default:
               //Serial.print("Hello11");

#include <EnableInterrupt.h>
#include <NewPing.h>
#include <Servo.h>

//--------------ORIENTATION------------------ 
/*

  Serial.print("\n");
}
*/
void encoder_reset(){
  encoder_A.zero();
  encoder_B.zero();
}
void encoder_report(){
  Serial.print(round(encoder_A.getPosition()));
  Serial.print('-');
  Serial.print(round(encoder_B.getPosition()));
  Serial.print('&');
}

//------------------CODEs---------------------
void setup() {
        Wire.begin();
        Serial.begin(9600);     // opens serial port, sets data rate to 9600 bps
        //Serial.println("Welcome to the Arduino Command HQ");  
        myservo.attach(5);
        myservo.write(servoH_top);

        //pinMode(IRA, INPUT_PULLUP);
        //pinMode(IRB, INPUT_PULLUP);

        encoder_A.init(MOTOR_393_SPEED_ROTATIONS,MOTOR_393_TIME_DELTA);
        encoder_B.init(MOTOR_393_SPEED_ROTATIONS,MOTOR_393_TIME_DELTA);
        
        enableInterrupt(stop_button, stop_motor_ALL , CHANGE); 
        //enableInterrupt(IRA,encoderA,CHANGE);
        //enableInterrupt(IRB,encoderB,CHANGE);
        
        pinMode(AMOTOR, OUTPUT);
        pinMode(BMOTOR, OUTPUT);
