   pinMode(PULSE_PIN, OUTPUT);
   pinMode(ENABLE, OUTPUT);
   //  digitalWrite(ENABLE, HIGH); //the motor should not make loud screeching
+  Serial3.begin(9600);
+  
   Serial.begin(9600);
   Serial.println("Send position to go to (percent):");
   printPosition();

*/
#define ERROR_OUT_OF_RANGE -1

int DIRECTION_PIN = 8;
int PULSE_PIN = 9;
int ENABLE = 10;


  if (Serial.available())
  {
    char cmd = Serial.read();
    if (cmd == 'r' || cmd == 'R') {
      Serial.println("Enter a height for bucket wheel:");
      while (!Serial.available());
      int readValue = Serial.parseInt();
      moveToPercent(readValue);
    }
    
    if (cmd == 's' || cmd == 'S') {
      Serial.println("Enter a speed for bucket wheel:");
      while (!Serial.available());
      int readValue = Serial.parseInt();
      if (readValue >= 0) {
//        128
//        130
//        131
        driveClockwise(128, readValue, 1);
        driveClockwise(130, readValue, 1);
        driveClockwise(131, readValue, 1);
        Serial.println("Spinning bucketwheel clockwise");
      } else {
        driveCounterclockwise(128, -1*readValue, 0);
        driveCounterclockwise(130, -1*readValue, 0);
        driveCounterclockwise(131, -1*readValue, 0);
        Serial.println("Spinning bucketwheel counter-clockwise");
      }
    }

  }
  e_stop = false;
