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

  // serial input
  ReadSerial();
  if (IsConnected) CheckCommandTimeout();
  
  // motors
  if (motor_counter > 0) motor_counter--;

      else motor1 = motor1_target;
    }
    roboclaw.ForwardBackwardM1(RC_ADDR, motor1);
    lastDriveCommandTime = millis();
  }
  // M2
  if (motor2 != motor2_target)
