       // instantiate an encoder object with user's
       // requested pin designators
 
-      encoderPin1 = argv[0] ;
-      encoderPin2 = argv[1] ;
+      encoderPin1 = argv[0];
+      encoderPin2 = argv[1];
 
       pinMode(encoderPin1, INPUT);
       digitalWrite(encoderPin1, HIGH);

byte pixyMaxBlocks = 5;  // Sets the maximum number of Pixy blocks to report.

// Ping variables
int numLoops = 0 ;
int pingLoopCounter = 0 ;


int numActiveSonars = 0 ; // number of sonars attached
uint8_t sonarPinNumbers[MAX_SONARS] ;
int nextSonar = 0 ; // index into sonars[] for next device

// array to hold up to 6 instances of sonar devices
NewPing *sonars[MAX_SONARS] ;

uint8_t sonarTriggerPin;
uint8_t sonarEchoPin ;
uint8_t currentSonar = 0;            // Keeps track of which sensor is active.

uint8_t pingInterval = 33 ;  // Milliseconds between sensor pings (29ms is about the min to avoid
// cross- sensor echo).
byte sonarMSB, sonarLSB ;

// Stepper Motor
Stepper *stepper = NULL;

    // arg3 = maxdistance lsb
    // arg4 = maxdistance msb
    case SONAR_CONFIG :
      int max_distance;
      if ( numActiveSonars < MAX_SONARS)
      {
        sonarTriggerPin = argv[0];
        sonarEchoPin = argv[1];
        // set interval to a minium of 33 ms.
        if ( argv[2] >= 33 ) {
          pingInterval = argv[2];
        }
        else {
          pingInterval = 33;
        }
        max_distance = argv[3] + (argv[4] << 7 );
        sonarPinNumbers[numActiveSonars] = sonarTriggerPin;

        setPinModeCallback(sonarTriggerPin, SONAR);
        setPinModeCallback(sonarEchoPin, SONAR);
        sonars[numActiveSonars] = new NewPing(sonarTriggerPin, sonarEchoPin, max_distance);
        numActiveSonars++;
      }
      else {
        Firmata.sendString("PING_CONFIG Error: Exceeded number of supported ping devices");
      }
      break;

    case STEPPER_DATA:
      // determine if this a STEPPER_CONFIGURE command or STEPPER_OPERATE command
      if (argv[0] == STEPPER_CONFIGURE)
      {
        int numSteps = argv[1] + (argv[2] << 7);
        int pin1 = argv[3];
        int pin2 = argv[4];
        if ( argc == 5 )
        {
          // two pin motor
          stepper = new Stepper(numSteps, pin1, pin2);
        }
        else if (argc == 7 ) // 4 wire motor
        {
          int pin3 = argv[5];
          int pin4 = argv[6];
          stepper =  new Stepper(numSteps, pin1, pin2, pin3, pin4);
        }
        else
        {
          Firmata.sendString("STEPPER CONFIG Error: Wrong Number of arguments");
          printData("argc = ", argc);
        }
      }
      else if ( argv[0] == STEPPER_STEP )
      {
        long speed = (long)argv[1] | ((long)argv[2] << 7) | ((long)argv[3] << 14);
        int numSteps = argv[4] + (argv[5] << 7);
        int direction = argv[6];
        if (stepper != NULL )
        {
          stepper->setSpeed(speed);
          if (direction == 0 )
          {
            numSteps *= -1;
          }
          stepper->step(numSteps);
        }
        else
        {
