           case 'd':
             drive(moveSpeed,0L,0L);
             driveTimeout = millis();
+            break;
+          case 'i':
+            Serial.print(act_x);
+            Serial.print(',');
+            Serial.print(act_y);
+            Serial.print(',');
+            Serial.println(act_rotate);
             break;
 
           case 'm': // move

  }
}




void updateWheels() {
  // calculate wheel speeds

  Serial.begin(38400);
}

int calcspeed_interval = 0;

void loop() {

  stepper1.runSpeed();
  stepper2.runSpeed();
  stepper3.runSpeed();
