   pinMode(4, INPUT_PULLUP);
   pinMode(5, INPUT_PULLUP);
   pinMode(6, INPUT_PULLUP);
+  pinMode(7, INPUT_PULLUP);
+  pinMode(8, INPUT_PULLUP);
+  pinMode(9, INPUT_PULLUP);
   pinMode(10, INPUT_PULLUP);
-  
-  pinMode(MOTOR_POWER_PIN, OUTPUT);
-  digitalWrite(MOTOR_POWER_PIN, LOW);
-  pinMode(UPS_POWER_PIN, OUTPUT);
-  digitalWrite(UPS_POWER_PIN, LOW);
-  pinMode(AUX_POWER_PIN, OUTPUT);
-  digitalWrite(AUX_POWER_PIN, HIGH);
-  delay(20);
-  digitalWrite(AUX_POWER_PIN, LOW);
   
   // start ports
   roboclaw.begin(38400);

#define RC_RX_PIN 12
#define RC_TX_PIN 11
RoboClaw roboclaw(RC_RX_PIN, RC_TX_PIN);

//
#define AUX_POWER_PIN 7
#define MOTOR_POWER_PIN 8
#define UPS_POWER_PIN 9

// common vars //
unsigned long lastCommandTime;


void CheckCommandTimeout()
{
  commandTime = millis();
  if (commandTime >= lastCommandTime) commandTime -= lastCommandTime; else lastCommandTime = 0;
  if (commandTime > cmdTimeout) OnDisconnected();
