 
 #define SERIAL_ON 0
 #define WIICHUCK_ON 1
+
+#define DEBUG 0
 
 //    tophat left x 24
 //    tophat left y 124

  analogWrite(SPEED_A, 0);
  digitalWrite(MOTOR_B, LOW);
  analogWrite(SPEED_B, 0);
  Serial.println("stop");
}

void forward(char a, char b) {
  analogWrite (SPEED_A,a);
  digitalWrite(MOTOR_A,LOW);
  analogWrite (SPEED_B,b);
  digitalWrite(MOTOR_B,LOW);
  Serial.println("forward");
}

void reverse (char a, char b) {
  analogWrite (SPEED_A,a);
  digitalWrite(MOTOR_A,HIGH);
  analogWrite (SPEED_B,b);
  digitalWrite(MOTOR_B,HIGH);
  Serial.println("reverse");
}

void left (char a, char b) {
  analogWrite (SPEED_A, a);
  digitalWrite(MOTOR_A, LOW);
  analogWrite (SPEED_B, b);
  digitalWrite(MOTOR_B, HIGH);
  Serial.println("left");
}

void right (char a, char b) {
  analogWrite (SPEED_A, a);
  digitalWrite(MOTOR_A, HIGH);
  analogWrite (SPEED_B, b);
  digitalWrite(MOTOR_B, LOW);
  Serial.println("right");
}


    pinMode(8, OUTPUT);  //Initiates Speed Channel B pin
    pinMode(11, OUTPUT); //Initiates Brake Channel B pin
  
    if (DEBUG) {
      Serial.begin(19200);
      Serial.println("setup");
    }
  
    if (WIICHUCK_ON) {
        nunchuck_setpowerpins();
        nunchuck_init(); // send the initilization handshake
