 {
   switch (serialInput[0])
   {
+    case 'i':
     case 'I': // Initialize
-      setLeftSpeed(20);
-      break;
+      initializeTimer1();
+      break;
+
+    case 'r':
     case 'R': // Rotation
-      if (serialInput[1] == 'L') rotateLeft();
-      else rotateRight();
-      break;
-
+      if (serialInput[1] == 'L' || serialInput[1] == 'l'){
+        rotateLeft();
+        Serial.println("Step left!");
+        }
+      else {
+        rotateRight();
+        Serial.println("Step right!");
+        }
+      break;
+    case 'f':
     case 'F': // Front direction
+    Serial.println("Go!");
       setLeftSpeed( serialInput[1] * 100 + serialInput[2] * 10 + serialInput[3]);
       setRightSpeed( serialInput[1] * 100 + serialInput[2] * 10 + serialInput[3]);
       delay(1500);

      delay(400);
      stopMotors();
      break;

    case 'B': // Back direction
      setLeftSpeed( (serialInput[1] * 100 + serialInput[2] * 10 + serialInput[3]) * -1);
      setRightSpeed( (serialInput[1] * 100 + serialInput[2] * 10 + serialInput[3]) * -1);

      break;

    case 'S': // Starting block
      prepareToStart();
      break;

    case 'G': // GO !!!
      smoothSploch();
      break;

    case 'w': // Emergy stop
      stopMotors();
      break;

    default:


#define starterServoPin 18

#define rotateTime 600

// Globals vars
Servo starterServo;
