       else motor2 = motor2_target;
     }
     roboclaw.ForwardBackwardM2(RC_ADDR, motor2);
+    lastDriveCommandTime = millis();
   }
 }
 

  {
    pulsePin(MOTORS_PIN, 20);
    driveUART(true);
  }
  else
  {

void battery()
{
  digitalWrite(BATTERY_PIN, HIGH);
  delay(20);
  unsigned long voltage = (unsigned long)analogRead(0) * 625 >> 7;
  digitalWrite(BATTERY_PIN, LOW);
  Serial.write('B');
