     //
     // GOOD BATTERY speed controller opperates normally
     //
-
-    switch(Cmode)
-    {
+    switch(Cmode) {
       // RC mode via D0 and D1
       case 0:
         RCmode();

         Serialread();
         RightPWM=data;

         Serial.print("Leftmode = ");
         Serial.print(Leftmode);
         Serial.print(" at ");

    // Code to drive dual "H" bridges
    //

    if (Charged==1) { // Only power motors if battery voltage is good
      if ((millis()-leftoverload)>overloadtime) {
        switch (Leftmode) { // if left motor has not overloaded recently
          case 2:                                               // left motor forward
            analogWrite(LmotorA,0);
            analogWrite(LmotorB,LeftPWM);
            break;

          case 1:                                               // left motor brake
            analogWrite(LmotorA,LeftPWM);
            analogWrite(LmotorB,LeftPWM);
            break;

          case 0:                                               // left motor reverse
            analogWrite(LmotorA,LeftPWM);
            analogWrite(LmotorB,0);
            break;
        }
      }

      if ((millis()-rightoverload)>overloadtime) {
        switch (Rightmode) { // if right motor has not overloaded recently
          case 2:                                               // right motor forward
            analogWrite(RmotorA,0);
            analogWrite(RmotorB,RightPWM);
            break;

          case 1:                                               // right motor brake
            analogWrite(RmotorA,RightPWM);
            analogWrite(RmotorB,RightPWM);
            break;

          case 0:                                               // right motor reverse
            analogWrite(RmotorA,RightPWM);
            analogWrite(RmotorB,0);
            break;
        }
      }
    }
    else {
      // Battery is flat
      // Turn off motors
      analogWrite(LmotorA,0);
