         pixels.show();
         break;
       default:
+#ifdef ENABLE_MOTOR_FUNCTIONS
         // Unknown command, stop the motors.
         for (int i = 0; i < 3; i++) {
           ST[i].motor(0);
         }
+#endif
         pixels.setSolidColour(0, 255, 50);
         pixels.show();
         break;


/**
   Simple sketch to directly control the Syren drivers. Send an I2C message containing 3 bytes, one
   for each motor, these are converted to values in the range -128 to 127 and sent to the motor drivers
*/
#include <Adafruit_NeoPixel.h>
#include "Triangula_NeoPixel.h"
#include <Wire.h>
#include <Sabertooth.h>

#define SLAVE_ADDRESS  0x70

#define MOTOR_SPEED_SET 0x20
#define SET_SOLID_COLOUR 0x21
#define ENCODER_READ 0x22

#define REG_MAP_SIZE   6
#define MAX_SENT_BYTES 4

// Set frequency to poll encoder counts when calculating velocity. Higher values will cause faster

          ST[i].motor(((int)(receivedCommands[i + 1])) - 128);
        }
        setColours(registerMap, REG_MAP_SIZE, 8, 0);
#endif
        break;
      case SET_SOLID_COLOUR:
        pixels.setSolidColour(receivedCommands[1], receivedCommands[2], receivedCommands[3]);
