   digitalWrite(motor_x[1], LOW);
   digitalWrite(motor_y[0], LOW);
   digitalWrite(motor_y[1], LOW);
-  
-  while (!Serial.available());
-  Serial.println("Starting Serial Communication");
 }
 
 void loop() {

    Serial.readBytes(&command, 1);
    Serial.println(command, BIN);

    // Determine whether to full stop motors or not
    if (command & FULL_STOP) {
      Serial.println("Full stop");
      digitalWrite(motor_x[0], LOW);
      digitalWrite(motor_x[1], LOW);
      digitalWrite(motor_y[0], LOW);
      digitalWrite(motor_y[1], LOW);
    } else {
      uint8_t axis = 0;
      if (command & AXIS_Y) {


void setup() {
  Serial.begin(9600);
  
  // Use pin 7 for the servo
  servo.attach(7);

  // Setup motors
  int i;
