   Serial.println();
   Serial.flush();
   Serial.println("Ready");
-
-  setPwmFrequency(6, 1);
-  setPwmFrequency(9, 1);
 }
 
 boolean gotCommand = false;

  pinMode(rightDisable, OUTPUT);
  pinMode(leftForwardSpeed, OUTPUT);
  pinMode(leftBackwardSpeed, OUTPUT);
  attachInterrupt(1, tickRight, CHANGE);
  attachInterrupt(0, tickLeft, CHANGE);

  delay(1000);


	PWM_L = 0;
	PWM_R = 0;
  }*/
    Serial.print('$');
  Serial.print(actualSpeedL);
  Serial.print(',');
  Serial.print(actualSpeedR);
  Serial.print(',');
  Serial.print(dT_sec);
  Serial.print('\n');
  desiredSpeedL = 1.0;
  desiredSpeedR = 1.0;

