     incomingByte_X= constrain(incomingByte_X, -100,100);
     incomingByte_Y = Serial.read();
     incomingByte_Y= constrain(incomingByte_Y, -100,100);
-    //computing new speed for right and left wheels  
-//    motor_right_speed = X_factor*float(incomingByte_X) - Y_factor *float(incomingByte_Y)*float(sign(incomingByte_X)) ;
-//    motor_right_speed = map(motor_right_speed, -300.0, 300.0,-255.0,255.0);
-//    motor_left_speed = X_factor*float(incomingByte_X) + Y_factor *float(incomingByte_Y)*float(sign(incomingByte_X));
-//    motor_left_speed = map(motor_left_speed, -300.0, 300.0,-255.0,255.0);
-    motor_right_speed = compute_Right_Wheel_Speed(float(incomingByte_X), float(incomingByte_Y));
-    motor_left_speed = compute_Left_Wheel_Speed(float(incomingByte_X), float(incomingByte_Y));
+    incomingByte_Z = Serial.read();
+    incomingByte_Z= constrain(incomingByte_Z, -100,100);
+    
+    //computing new speed for wheels  
     //configuring right motor PWM
     motor_right_pwm = byte(abs(motor_right_speed));
     if(motor_right_speed >= 0){

float max_right;
float min_left;
float max_left;

const long interval = 200;     
long previousMillis = 0;

const int motor_left_backward = 12;
const int motor_left_enable = 11;

const int motor_up_forward = 5;//TODO set the adequate value
const int motor_up_backward = 6;//TODO set the adequate value
const int motor_up_enable = 10;//TODO set the adequate value


byte motor_right_pwm = 0;
byte motor_left_pwm = 0;
byte motor_up_pwm = 0;

float motor_right_speed = 0;
float motor_left_speed = 0;
float motor_up_speed = 0;

char incomingByte_X = 0;
char incomingByte_Y = 0;
char incomingByte_Z = 0;

const float X_factor = 1.0;
const float Y_factor = 1.0;
const float Z_factor = 1.0;

