   int leftDistance = leftSensorDistanceMeasuredInCM(sensorValue1);
   int middleDistance = middleSensorDistanceMeasuredInCM(sensorValue0);
   int bottomDistance = bottomSensorDistanceMeasuredInCM(sensorValue3);
-  /*
-  Serial.print("Middle Sensor: ");
-  Serial.print(sensorValue0, DEC);  // prints the value read in decimal
-  Serial.print("\t");
-  Serial.print("Left Sensor: ");
-  Serial.print(sensorValue1, DEC);  // prints the value read in decimal
-  Serial.print("\t");
-  Serial.print("Right Sensor: ");
-  Serial.print(sensorValue2, DEC);  // prints the value read in decimal
-  Serial.print("\t");
-  Serial.print("Bottom Sensor: ");
-  Serial.println(sensorValue3, DEC);  // prints the value read in decimal
-  */
 }
 
 // Listen for serial data from raspberry

      servoTurn(serialData);
    }
  }
  //resetPololuTicks();
  /*else if(serialData==9){
    int distCovered = getDistance();
      Serial.write("9/");
      Serial.print(distCovered);
      Serial.write(";");
      resetDefaultWheelTicks();
  }*/
  informReadyOnce = false;
  /*
  switch(serialData) {
    
    // Command: Move Foward
    case 1: {
      serialData = readSerial();
      moveForward(serialData);
      break;
    }
    
    // Command: Turn Left
    case 2: {
      serialData = readSerial();
      turnLeft(serialData);
      break;
    }
    
    // Command: Turn Right
    case 3: {
      serialData = readSerial();
      turnRight(serialData);
      break;
    }
    
    // Command: Halt
    case 4: {
      halt();
      break;
    }
    
    // Command: Run Motor
    case 5: {
      runMotor(maxSpeedA, maxSpeedB); 
      break;
    }
    
    // Command: Servo Turn
    case 6: {
      serialData = readSerial();
      servoTurn(serialData);
      break;
    }
    
    // Command: Get Distance
    case 9: {
      int distCovered = getDistance();
      Serial.write("9/");
      Serial.print(distCovered);
      Serial.write(";");
      resetDefaultWheelTicks();
      break;
    }
    
    // No command: continue moving forward
    default: {
//      moveForward(distCentimeter(0));
    }
  }
  */
}

//void incLeftCount() {
//  leftWheelTickCount++;
//  if (countTicksForAngleOrDist == true) {
//    leftTicksForAngleOrDist++;
//  }
//}
//
//void incRightCount() {
//  rightWheelTickCount++;
//  if (countTicksForAngleOrDist == true) {
//    rightTicksForAngleOrDist++;
//  }
//}
//
//void resetDefaultWheelTicks() {
//  leftWheelTickCount = 0;
//  rightWheelTickCount = 0;
//}

//void resetTicksForAngleOrDistance() {
//  angleTurn = 0;
//  distanceMove = 0;
//  countTicksForAngleOrDist = false;
//  leftTicksForAngleOrDist = 0;
//  rightTicksForAngleOrDist = 0;
//}

void resetPololuTicks() {
  PololuWheelEncoders::getCountsAndResetM1();

}

float middleSensorDistanceMeasuredInCM(int middleSensor) {
  float distance = (6762 / (middleSensor - 9)) - 4;
  return distance;
}
