-//#include <ZumoMotors.h>
+#include <ZumoMotors.h>
 
 #define LED_PIN 13
 
-//ZumoMotors motors;
+ZumoMotors motors;
 
 String inputString = "";         // a string to hold incoming data
 boolean stringComplete = false;  // whether the string is complete

  inputString.reserve(200);
  
  pinMode(LED_PIN, OUTPUT);
  motors.setLeftSpeed(0);
  motors.setRightSpeed(0);
}

      break;
      
      case 'c':
      // c left_speed right_speed dt_millis
      // All
      vel = Serial.parseInt();
      vel = constrain(vel, -400, 400);
      vel2 = Serial.parseInt();
      vel2 = constrain(vel2, -400, 400);
      dt = Serial.parseInt();
      dt = constrain(dt, 0, 10000); // 0-10 seconds
      Serial.print("Both ");
      Serial.print(vel);
      Serial.print(" ");
      Serial.println(vel2);
      drive(vel,vel2,dt);
      break;
      
      case 'd':
