             case STOP:  stopRobot();
             break;
           
-            case 1:  moveRobotForward(arg);
-            break;
-        
-            case 2:  moveRobotBackward(arg);
-            break;
-        
-            case 3:  rotateRobotLeft(arg);
-            break;
-
-            case 4:  rotateRobotRight(arg);
+            case FORWARD:  moveRobotForward(arg);
+            break;
+        
+            case BACKWARD:  moveRobotBackward(arg);
+            break;
+        
+            case LEFT:  rotateRobotLeft(arg);
+            break;
+
+            case RIGHT:  rotateRobotRight(arg);
             break;
             
-            case 5: robotGrab();
+            case KICK: robotKick(arg);
+            break;
+
+            case GRAB: robotGrab(arg);
             break;
         
             default: Serial.println("ERR");

    String c = Serial.readString();
    
    // inital test to see if message is recieved (delete afterwards)
    // 
    Serial.println(c);


      // need to check if signuture is our teams first!

  int r2 = getNumFromChar(c[3]);
  int r3 = getNumFromChar(c[4]);
  return ((r1*100)+(r2*10)+r3);
}

int check_checksum(String c, int opcode, int arg){
  int checksum = getNumFromChar(c[5]);
