 
 void loop()
 {
-  gotCommand = false;
+  /*gotCommand = false;
   while(Serial.available())
   {
-    if(Serial.read() == '$')
-    {
-      desiredSpeedL = -1*Serial.parseFloat();
-      desiredSpeedR = -1*Serial.parseFloat();
-      lastCmdTime = millis();
-      gotCommand = true;
-    }
+	if(Serial.read() == '$')
+	{
+	  desiredSpeedL = Serial.parseFloat();
+	  desiredSpeedR = Serial.parseFloat();
+	  lastCmdTime = millis();
+	  gotCommand = true;
+	}
   }
   if(gotCommand)
   {
-    Serial.print('$');
-    Serial.print(actualSpeedL);
-    Serial.print(',');
-    Serial.print(actualSpeedR);
-    Serial.print(',');
-    Serial.print(dT_sec);
-    Serial.print('\n');
-  }
-  
+	Serial.print('$');
+	Serial.print(actualSpeedL);
+	Serial.print(',');
+	Serial.print(actualSpeedR);
+	Serial.print(',');
+	Serial.print(dT_sec);
+	Serial.print('\n');
+  }
+
   if( millis() - lastCmdTime > 500)
   {
-    Serial.println("TIMEOUT");
-    desiredSpeedL = 0;
-    desiredSpeedR = 0;
-    PWM_L = 0;
-    PWM_R = 0;
-  }
-  `*/
+	Serial.println("TIMEOUT");
+	desiredSpeedL = 0;
+	desiredSpeedR = 0;
+	PWM_L = 0;
+	PWM_R = 0;
+  }*/
+  desiredSpeedL = 1.0;
+  desiredSpeedR = 1.0;
+
   dT_sec = (float)( millis() - lastLoopTime ) / 1000.0;
   lastLoopTime = millis();
   actualSpeedL = ( metersPerTick * tickDataLeft ) / dT_sec;

 *     functions may also be affected.
 *   - Changes on pins 9 or 10 will cause the Servo library to function
 *     incorrectly.
 * 
 * Thanks to macegr of the Arduino forums for his documentation of the
 * PWM frequency divisors. His post can be viewed at:
 *   http://forum.arduino.cc/index.php?topic=16612#msg121031

{
  if (digitalRead(encoderLeftData1) == digitalRead(encoderLeftData2))
  {
	tickDataLeft++;
  }
  else
  {
	tickDataLeft--;
  }
}

/**
 * Divides a given PWM pin frequency by a divisor.
 *
 * The resulting frequency is equal to the base frequency divided by
 * the given divisor:
 *   - Base frequencies:
