 // Pins are pairs of close-by pins with PWM and digital ones.
 BrushlessDCMotor engine1 = BrushlessDCMotor("motorPortHor", THROTTLE_STEPS, MOTOR_MAX_PULSE_WIDTH,
 	MOTOR_MIN_PULSE_WIDTH, MOTOR_ARM_PULSE_WIDTH, 9, 8);
-/*BrushlessDCMotor engine2 = BrushlessDCMotor("motorStbdHor", THROTTLE_STEPS, MOTOR_MAX_PULSE_WIDTH, MOTOR_MIN_PULSE_WIDTH, 6, 7);
-BrushlessDCMotor engine3 = BrushlessDCMotor("motorPortVer", THROTTLE_STEPS, MOTOR_MAX_PULSE_WIDTH, MOTOR_MIN_PULSE_WIDTH, 5, 4);
-BrushlessDCMotor engine4 = BrushlessDCMotor("motorStbdVer", THROTTLE_STEPS, MOTOR_MAX_PULSE_WIDTH, MOTOR_MIN_PULSE_WIDTH, 3, 2);
-*/
+BrushlessDCMotor engine2 = BrushlessDCMotor("motorStbdHor", THROTTLE_STEPS, MOTOR_MAX_PULSE_WIDTH,
+	MOTOR_MIN_PULSE_WIDTH, MOTOR_ARM_PULSE_WIDTH, 6, 7);
+BrushlessDCMotor engine3 = BrushlessDCMotor("motorPortVer", THROTTLE_STEPS,MOTOR_MAX_PULSE_WIDTH,
+	MOTOR_MIN_PULSE_WIDTH, MOTOR_ARM_PULSE_WIDTH, 5, 4);
+BrushlessDCMotor engine4 = BrushlessDCMotor("motorStbdVer", THROTTLE_STEPS, MOTOR_MAX_PULSE_WIDTH,
+	MOTOR_MIN_PULSE_WIDTH, MOTOR_ARM_PULSE_WIDTH, 3, 2);
+
 /* =============================================================================
  * MISC ACTUATOR DEFINITIONS.
  * =============================================================================
  */
-const char* LED_LABEL = "forwardLED"; // Whether forward illumination LED is on or of.
+Module sendSensorReadingsModule = Module("sendSensorReadings"); // Sends sensor readings over serial.
+
+Module refreshRate = Module("refreshRate"); // Changes the delay in the main loop.
+
+Module forwardLED = Module("forwardLED"); // Switches the forward illumination LED on or of.
 const int FORWARD_LED_PIN = 12; // When this is set HIGH the forward light will switch on.
 
 const int ON_LED_PIN = 13; // LED on the Arduino board that will be lit when the ROV is in the main loop.

const char END_CHAR = ';'; // End of the command message sent to and from the Arduino.
const char DATA_DELIMITER[2] = ","; // Splits the command name and value. For some reason has to be size 2.

Module* actuators[] = {&engine1/*, &engine2, &engine3, &engine4*/};
Module* sensors[] = {&depthSensor, &depthSensor2};

/* =============================================================================

 * TELECOMMAND PROTOCOL DEFINITION.
 * =============================================================================
 */
// Input and output data buffers.
#define DATABUFFERSIZE 80
char inputDataBuffer[DATABUFFERSIZE+1]; // Where the received command will be temporarily held. Add 1 for NULL terminator at the end.
