           case 'd':
             drive(moveSpeed,0L,0L);
             driveTimeout = millis();
+            break;
+          case 'i':
+            Serial.print(act_x);
+            Serial.print(',');
+            Serial.print(act_y);
+            Serial.print(',');
+            Serial.println(act_rotate);
             break;
 
           case 'm': // move

long act_y = 0;
long act_rotate = 0;

long maxRotSpeed = 1000L;  // 16000L
long maxMoveSpeed = 1000L; // 16000L
long moveSpeed = 40L; // 2000L

int millivoltAvg;
int millivolt;
int loopCnt = 0;

#define DTIMEOUT 2000
uint16_t driveTimeout = 0;

void setup()


void drive(long x, long y, long rotate) {
  // later: add acceleration here

  target_x = x;
  target_y = y;
  target_r = rotate;
}

void serialParser() {
