       SetSpeed(motor6, u[5]);
 
       delay(2000);
+      for(int i=0; i<6; i++)
+      {
+      Serial.print(u[i]);
+      Serial.print("   ");
+      }
+      Serial.println("zeroing...");
       u[0]=0;
       u[1]=0;
       u[2]=0;
       u[3]=0;
+      u[4]=0;
+      u[5]=0;
       
 
   }

      else if (u[3]<-mios)
          u[4]= -mios;
      }
      else if(bufferMotor=="motor5"){
       u[5]= buffer2.toInt();
      if (u[5]>mios)
          u[5]= mios;

volatile boolean newMessageReceived = false;
//Pulses Per Revolution, Revolutions Per Revolution
int PPR, RPR;
volatile int u[6] = {0, 0, 0, 0, 0, 0};
int v1=0, e1=0, v2=0, e2=0, v3=0, e3=0, v4=0, e4=0;
int PowerOnMotor1 = 0, PowerOnMotor2 = 0, PowerOnMotor3 = 0, PowerOnMotor4 = 0;
int PWMSpeed[6] = {0, 0, 0, 0, 0, 0};
