   }
 }
 
+void stop() {
+  stepperL.stop();
+  stepperR.stop();
+}
+
 void emergencyStop() {
-    stepperL.setCurrentPosition(stepperL.currentPosition());
-    stepperR.setCurrentPosition(stepperR.currentPosition()); 
+  stepperL.setCurrentPosition(stepperL.currentPosition());
+  stepperR.setCurrentPosition(stepperR.currentPosition()); 
 }
 
 void pushTo(float x, float y)

  /* Unofficial extensions
      BZ n - sound buzzer for n milliseconds
      ST - stop
      SIG - sign Logobots name
      TO x y
    */  

    float angle = c.substring(3).toFloat();
    turn(angle);
  } else if (c.startsWith("ST")) {
    stop();
  } else if (c.startsWith("SE")) {
    emergencyStop();
  } else if (c.startsWith("BZ")) {
    buzz(c.substring(3).toInt());
  } else if (c.startsWith("PU")) {
