   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);

    case 'D':
      right (leftspeed,rightspeed);
      break;
    case 'r': //Tilt UP
    case 'R':
      moveServoUp(SERVO_MOVE_INCREMENT);
      break;
    case 'f':
    case 'F':
      moveServoDown(SERVO_MOVE_INCREMENT);
      break;
    default:
      stop();

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

void right (char a,char b, int ms) {
  right(a,b);
  delay(ms);
  stop();
}

void moveServoUp(int amount) {
