       else requestedX = UPPERBOUND_X; 
       stopStart = false;
     }
+
+  }
   
 }
 

  }

  while(Serial.available() == 0);
  value = Serial.parseFloat();
  serialX = value;
  
  while(Serial.available() == 0);
  value = Serial.parseFloat();
  serialY = value;
  
  while(Serial.available() == 0);
  value = Serial.parseFloat();
  serialR = value;
  
  while(Serial.available() == 0);
  value = Serial.parseFloat();
  requestedE = value;
   
  Serial.println(CONFIRM_CODE);


  
}

void MapCoordinates(double serialX, double serialY, double serialR) //Map from real coordinates to step coordinates
{
  
  int i;
