 #include <Servo.h>
 #include <Wire.h>
 #include <SPI.h>
+#include <dmtimer.h>
 #include <Adafruit_PN532.h>
 
 Bot bot(MOTOR_L_PIN_1, MOTOR_L_PIN_2, MOTOR_L_PIN_3, MOTOR_L_PIN_4, MOTOR_R_PIN_1, MOTOR_R_PIN_2, MOTOR_R_PIN_3, MOTOR_R_PIN_4);
 String cmd; // cmd received over serial - builds up char at a time
 Adafruit_PN532 nfc(PN532_SCK, PN532_MISO, PN532_MOSI, PN532_SS);
+DMTimer checkTimer(2000000);
+String cardval;
+String oldcardval = "";
+bool bot_drive = 1;
 
 void setup()
 {

    nfc.PrintHex(uid, uidLength);
    Serial.println("");   
  }
  return uid;
}

static void handleCollision(byte collisionData)

    Serial.println("Logobot");
    bot.begin();
    nfc.begin();
    nfc.setPassiveActivationRetries(1);
    nfc.SAMConfig();
    bot.enableLookAhead(true);
    bot.initBumpers(SWITCH_FL_PIN, SWITCH_FR_PIN, SWITCH_BL_PIN, SWITCH_BR_PIN, handleCollision);
