           case 'd':
             drive(moveSpeed,0L,0L);
             driveTimeout = millis();
+            break;
+          case 'i':
+            Serial.print(act_x);
+            Serial.print(',');
+            Serial.print(act_y);
+            Serial.print(',');
+            Serial.println(act_rotate);
             break;
 
           case 'm': // move

  }
}




void updateWheels() {
  // calculate wheel speeds

  lr = -act_x + act_y + act_rotate;
  rr = -act_x - act_y + act_rotate;

  if((lf == 0L) && (rf == 0L) && (lr == 0L) && (rr == 0L)) {
    digitalWrite(STEPPER1_STEP_EN, HIGH); // enable pin LOW = on
    digitalWrite(STEPPER2_STEP_EN, HIGH); // enable pin LOW = on
    digitalWrite(STEPPER3_STEP_EN, HIGH); // enable pin LOW = on
