   //G01 defines relative movement
 
   else if (tempString.startsWith("G01")) {
-    Serial.println("G01 Received");
+    mySerial.println("G01 Received");
     String commandString = tempString; //make a copy of the command
 
     if(checkCommand(tempString)) {
       commandString.replace("G01,", ""); //remove the header part
 
-      //Serial.println("Modified String : " + commandString);
+      //mySerial.println("Modified String : " + commandString);
       String xSubString = commandString.substring(0, commandString.indexOf(',')); //extract the X part of the string
-      //Serial.println(xSubString);
+      //mySerial.println(xSubString);
       xSubString.replace("X", ""); //remove X to make integer string
       int xValue = xSubString.toInt(); //convert the integer string to int
 
       xSubString = commandString.substring(0, commandString.indexOf(',') + 1); //extract the X part of the string
       commandString.replace(xSubString, ""); //remove the X part
       String ySubString = commandString.substring(0, commandString.indexOf(',')); //extract the Y part of the string
-      //Serial.println(ySubString);
+      //mySerial.println(ySubString);
       ySubString.replace("Y", ""); //remove Y to make integer string
       int yValue = ySubString.toInt(); //convert the integer string to int
 

  stepperY.setSpeed (motorSpeedY);
  stepperZ.setSpeed (motorSpeedZ);

  pinMode (enableX, OUTPUT);
  pinMode (enableY, OUTPUT);
  pinMode (enableZ, OUTPUT);

  digitalWrite (enableX, LOW);
  digitalWrite (enableY, LOW);
  digitalWrite (enableZ, LOW);

  pinMode(LED_PIN, OUTPUT);
  Serial.begin(9600);
  while (!Serial) {
    ;
  }
  Serial.println("I'm ready!");
  mySerial.begin(9600);
  mySerial.setTimeout(20);
  Serial.setTimeout(20);
}

//=========================================================================//

void loop() {
  if (mySerial.available() > 0) {
    tempString = mySerial.readStringUntil(DELIMITER);

    if(tempString != NULL) {
      executeCommand();

  //--------------------- G28 starts -----------------------//
  //G28 specifies homing
  else if (tempString.startsWith("G28")) {
    mySerial.println("G28 Received");
    if((stepCountX == 0) && (stepCountY == 0)) {
      mySerial.println("Already home");
    }
    else {
      absMoveTo(0, 0, PIXELS);
