                               drive(0, 0);
 //                              Serial.println("AGHHHHHHHHHH FIREEEE");
                               break;
-                        }
+//                        }
                   }
             }
 //            Serial.println("END SIGNAL");
             drive(0,0);
 //
-//      }
+      }
 //      get_distances();
 //      delay(1000);
 }

      //}
      // delay(500);
      Serial.begin(115200);
      while (!Serial);
      Serial.println("finished setup");
//      Serial.println("finished setup");


void setup()
{
//      setup_imu();
//      setup_distance();
      setup_motors();
//      setup_encoders();
//      setup_line();
      setup_remote();
      pinMode(13, OUTPUT);
      //while (!digitalRead(REMOTE_PIN)) {
