 long sqr(long v) {
   return v*v;
 }
+

  stepperL.move(-steps);
}

void buzz(int len)
{
  buzzEnd = millis() + len;

    float x = c.substring(3,sp).toFloat();
    float y = c.substring(sp+1).toFloat();
    driveTo(x,y);
  } else if (c.startsWith("ARC")) {
      // split out x and y co-ordinates
      int sp = c.indexOf(" ",4);
      float x = c.substring(4,sp).toFloat();
      float y = c.substring(sp+1).toFloat();
      arcTo(x,y);
  } else if (c.startsWith("FD")) {
    float dist = c.substring(3).toFloat();
    drive(dist);
