 #define XBEE_COMMAND_TURN_RIGHT     2
 
 #define FULL_SPEED                  255
-#define TURN_SPEED                  125
+#define TURN_SPEED                  50
 
 #define LEFT_MOTORS                 0
 #define RIGHT_MOTORS                1

    Serial.println(xbee_command, DEC);

    //debugging
    xbee_command = XBEE_COMMAND_FORWARD;
    
    switch(xbee_command)
    {

void loop() {
  // put your main code here, to run repeatedly:
    unsigned int i;
    char xbee_command;

    delay(50);    // TODO: Replace this with something more deterministic, perhaps based on a timer.

    // read xbee data and update motor states
    xbee_command = xbee.read();
