   Serial.println("left");
 }
 
+void left (char a,char b, int ms) {
+  left(a,b);
+  delay(ms);
+  stop();  
+}
+
 void right (char a,char b)
 {
   analogWrite (E1,a);

  analogWrite (E2,b);
  digitalWrite(M2,HIGH);
  Serial.println("right");
}

void moveServoUp(int amount) {

    case 'D':
      right (leftspeed,rightspeed);
      break;
    case 'u': //Tilt UP
    case 'U':
      moveServoUp(SERVO_MOVE_INCREMENT);
      break;
    case 'j':
    case 'J':
      moveServoDown(SERVO_MOVE_INCREMENT);
      break;
    case 'h':
    case 'H':
      left(leftspeed,rightspeed,100);
      break;
    case 'k':
    case 'K':
      right(leftspeed, rightspeed, 100);
      break;
    default:
      stop();
