   rightMotor.Set(0); //(100 MAX FORWARD, -100 MAX BACK)
   
   Serial.begin(57600);
+  lasttime = millis();
+  softstop = millis();
 }
 
 void loop() 
 {
   readSerial();
+  ramp();
   moveMotor();
+  delay(50);
 }
 
 void readSerial()

        sscanf(s, "[%d,%d]\n", &target_vel[0], &target_vel[1]);
        target_vel[0] = constrain(target_vel[0],-SPEED_LIMIT,SPEED_LIMIT);
        target_vel[1] = constrain(target_vel[1],-SPEED_LIMIT,SPEED_LIMIT);
      }
      memmove(buf, &e[1], strlen(&e[1]) + sizeof(char));
    }
  }
}

void moveMotor()
{
  leftMotor.Set(-1*target_vel[0]);
  rightMotor.Set(target_vel[1]);
  //Serial.print(target_vel[0]);
  //Serial.println(target_vel[1]);
}


#include <FRCmotor.h>

int gamemode = 1; // Enables the FRCmotor library

int leftVel = 0;
int rightVel = 0;
int lasttime;

int softstop;

//SerialRead/Write
#define BUFSIZE 256
