   Serial.println();
   Serial.flush();
   Serial.println("Ready");
-
-  setPwmFrequency(6, 1);
-  setPwmFrequency(9, 1);
 }
 
 boolean gotCommand = false;

volatile int tickDataRight = 0;
volatile int tickDataLeft = 0;

const float ticksPerRev = 200.0;
const float gearRatio = 32.0;
const float wheelCir = 1.092; // Meters
const float metersPerTick = wheelCir / (ticksPerRev * gearRatio);

  pinMode(rightDisable, OUTPUT);
  pinMode(leftForwardSpeed, OUTPUT);
  pinMode(leftBackwardSpeed, OUTPUT);
  attachInterrupt(digitalPinToInterrupt(3), tickRight, CHANGE);
  attachInterrupt(digitalPinToInterrupt(2), tickLeft, CHANGE);

  delay(1000);

