 //        128
 //        130
 //        131
+        //driveClockwise(int motorID, int speed, unsigned char command)
         driveClockwise(128, readValue, 1);
         driveClockwise(130, readValue, 1);
         driveClockwise(131, readValue, 1);


    //update and print position as we move
    currentSteps += dir;
    if (i%500 == 0) printPosition();
    
    //wait for 100 ms

  if (Serial.available()) {
    char command = Serial.read();
    switch (command) {
      //emergency stom if command == 's' or 'S'
      case 's':
        e_stop = true;
        break;
