       }
 
       // Determine the speed
-      //TODO: Should be command & SPEED_MASK?
       uint8_t spd = command & SPEED_MASK;
-      //TODO: This line creates a quadratic releationship between what should be linear speed values. It would be better to multiply by a constant.
       if (spd == 16) {
         spd = 256;
       } else {

            case 0:
              // Negative direction
              analogWrite(motor_x[1], spd);
              digitalWrite(motor_x[1], HIGH);
              break;
            case 1:
              // Positive direction

            case 0:
              // Negative direction
              analogWrite(motor_y[1], spd);
              digitalWrite(motor_y[0], LOW);
              break;
            case 1:
              // Positive direction
