     while(Serial.available() > 0){
       serialChar = Serial.read();
       if(commandMode){
-        if(serialChar == COMMAND){
+        if(serialChar == COMMAND){ //if we're already in command mode and we see another #, exit command mode
           commandMode = false;
         }else{
-          commandHandler(serialChar);
+          commandHandler(serialChar); //process command when in command mode
         }
       }
-      if(serialChar == COMMAND){
+      if(serialChar == COMMAND){ //if char is #, begin command mode
         commandMode = true;
       }
     }

}

void moveBackward(){
  for(int i=0; i<stepRange; i++){
    myFrontServo.write(frontStartPos - i);
    myBackServo.write(backStartPos - i);
    delay(1);
  }
  for(int i=0; i<stepRange; i++){
    myMidServo.write(midStartPos + i);
    delay(1);
  }  
  delay(100);
  for(int i=0; i<stepRange; i++){
    myFrontServo.write(frontStartPos - stepRange + i);
    myBackServo.write(backStartPos - stepRange + i);
    delay(1);
  }
  for(int i=0; i<stepRange; i++){
    myMidServo.write(midStartPos + stepRange - i);
    delay(1);
  }  

}

void moveRight(){
  int i;
  for(i=0; i<stepRange/2; i++){
    myMidServo.write(midStartPos + i);
    delay(1);
  } 
  for(i=0; i<stepRange; i++){
    myFrontServo.write(frontStartPos - i);
    myBackServo.write(backStartPos - i);
    delay(1);
  } 
  delay(100);
  for(i=0; i<stepRange/2; i++){
    myMidServo.write(midStartPos + stepRange/2 - i);
    delay(1);
  }    
  for(i=0; i<stepRange; i++){
    myFrontServo.write(frontStartPos - stepRange + i);
    myBackServo.write(backStartPos - stepRange + i);
    delay(1);
