         digitalWrite(motor_up_forward, LOW);
         digitalWrite(motor_up_backward, HIGH);
     }
-    Serial.write(motor_right_pwm);
-    Serial.write(motor_left_pwm);
-    Serial.write(motor_up_pwm);
+    //some debugging info
+    //Serial.write(motor_right_pwm);
+    //Serial.write(motor_left_pwm);
+    //Serial.write(motor_up_pwm);
     Serial.flush();   
   }
 }

}

void serialEvent(){
  if (Serial.available() > 0) {
    // read the speed commandqs for each wheel
    incomingByte_X = Serial.read();
    incomingByte_X= constrain(incomingByte_X, -100,100);
    incomingByte_Y = Serial.read();

  return (X_factor*value_x + Y_factor*value_y*sign(value_x));
}

float compute_Up_Motor_Raw_Speed(float value_z){
  return (Z_factor*value_z);
}

