         arm.write(rise);
         delay(500); 
         
-        moveStraight(40); // this command wasn't built yet
+        // moveStraight(40); // this command wasn't built yet
         delay(1000);
         
         receivedCommand = Serial1.read();

void loop()
{
    // startSlowly();
    // moveStraight();
    // stopSlowly();
    // turnToDegree(90);
    turnRight();
    // delay(3000);
    grabOneTube(); 
}

// pre: the diameter of the wheel is motorDiameter
//      the radius to turn is DiameterToTurn
//      the angle the motor should turn could be calculated as 
//      motorDiameter * angleMotor =  angleTurning * DiameterToTurn
const int motorDiameter = 63; // in millimeter
const int DiameterToTurn = 1800; // in millimeter

int angleNow = 0;
// post: Turning left for the given angle
void turnToDegree(int angleTurning) {
    // stopSlowly();
    int angleTotal = angleTurning * DiameterToTurn / motorDiameter;
    int turnsTotal = angleTotal / 360;
    int angleLeft = angleTotal % 360;
    angleNow += 180;
    motorLeft.MoveTo(angleNow, 70);
    motorRight.MoveTo(angleNow, 70);

    motorRight.MoveTo(angleNow, 70); 
    serialFeedback();
    delay(1000);
}

void startSlowly() {
