       if ( !prot[0] ) {
         Serial.println("B1");
       }
-
       // Handle specific commands
-      else {
-        switch(prot[0]) {
-
-        case 't': {
+      else if ( prot[0] == 't' ) {
+          Serial.println("Thrusters on");
           thrusterCmd;
         }
-        case 'd': {
+      else if ( prot[0] == 'd' ) {
+          Serial.println("Get depth");
           getDepth();
-        }
-        default:
+      }
+      else {
           Serial.println("B2");
           Serial.println(prot[0]);
-        }
-
       }
 
       // Reset buffer position

#define NUM_THRUSTERS 8

// Time(ms) arduino waits without hearing from jetson before turning off thrusters
#define ALIVE_TIMEOUT 5000

// Character sent to the jetson on connect and reconnect
#define CONNECTED "C"

    }

    else {
      Serial.print("Buffer pos ");
      Serial.println(serialBufferPos);
      serialBufferPos++;
    }

