 	else
 	{
 	}
-}
-
+
+}
+

	{
		digitalWrite(Left_A, LOW);
		digitalWrite(Left_B, HIGH);
		analogWrite(Left_PWM, (-(val - 32)) << 3);
	}
}

////右側モーターに関する関数
//void Right_go(char val){
//	int vali = elect(val);
//	Serial.println(vali);
//	if (vali == 5){
//		digitalWrite(Right_A, LOW);
//		digitalWrite(Right_B, LOW);
//	}
//	else if (vali > 5){
//		digitalWrite(Right_A, HIGH);
//		digitalWrite(Right_B, LOW);
//		analogWrite(Right_PWM, NOM + ((vali - 5) * 20));
//	}
//	else{
//		digitalWrite(Right_A, LOW);
//		digitalWrite(Right_B, HIGH);
//		vali = vali - 6;
//		analogWrite(Right_PWM, NOM + (-vali * 20));
//	}
//}
////左側のモーターに関する関数
//void Left_go(char val){
//	int vali = elect(val);
//	Serial.println(vali);
//	if (vali == 5){
//		digitalWrite(Left_A, LOW);
//		digitalWrite(Left_B, LOW);
//	}
//	else if (vali > 5){
//		digitalWrite(Left_A, HIGH);
//		digitalWrite(Left_B, LOW);
//		analogWrite(Left_PWM, NOM + ((vali - 5) * 20));
//	}
//	else{
//		digitalWrite(Left_A, LOW);
//		digitalWrite(Left_B, HIGH);
//		vali = vali - 6;
//		analogWrite(Left_PWM, NOM + (-vali * 10));
//	}
//}

inline int elect(char x){
	return x - '0';
	//switch (x){
	//case '1':return 1; break;
	//case '2':return 2; break;
	//case '3':return 3; break;
	//case '4':return 4; break;
	//case '5':return 5; break;
	//case '6':return 6; break;
	//case '7':return 7; break;
	//case '8':return 8; break;
	//case '9':return 9; break;
	//}
}



				switch (byteNo)
				{
				case 1:
					Rmotor = (0x7E & buff) >> 1;
#if debug
					Serial.print('1');
#endif
					parity = (buff & 0x01) << 6;
					break;
				case 2:
					Lmotor = (0x7E & buff) >> 1;
#if debug
					Serial.print('2');
#endif
					parity |= (buff & 0x01) << 5;
					break;
				case 3:
					servoVal = (0x7E & buff) >> 1;
#if debug
					Serial.print('3');
#endif
					parity |= (buff & 0x01) << 4;
					break;
				default:
					dirty = true;
#if debug
					Serial.print('e');
#endif
					break;
				}
			}
