 
 
 
+void loop() 
+{
+    SendWheelData();
 
+    String data;
+    if (Serial.available() > 0) { 
+      //Serial.read();
+      data = Serial.readString();
 
+      int splitPos = data.indexOf('|');
 
+      String serialPart1 = data.substring(0, splitPos);
+      String serialPart2 = data.substring(splitPos+1);
+      
+      char buffer[10];
+      serialPart1.toCharArray(buffer, 10);
+      float firstValue = atof(buffer);
+      
+      serialPart2.toCharArray(buffer, 10);
+      float secondValue = atof(buffer);
 
+      SetMotor(1, firstValue);
+      SetMotor(2, secondValue);
 
-void loop() {
-    SendWheelData()
+      motorTimestamp = millis();
+    }
 
-
-    delay(200);
+    if(motorTimestamp + motorTimeout < millis())
+    {
+      SetMotor(1, 0);
+      SetMotor(2, 0);
+    }
+    
 }
 

    Serial.print(interruptCountDelta);
}

void EncoderRotationCount1() {
    if(motorDirectionIsForward1)
    {
        interrupt1Count++;

    }
}

void EncoderRotationCount2() 
{
    if(motorDirectionIsForward2)
    {
        interrupt2Count++;
