 }
 
 void left() {
-  servo.write(40);
+  servo.write(140);
 };
 void center() {
   servo.write(90);
 };
 void right() {
-  servo.write(140);
+  servo.write(40);
 };
 
 void clearCommand() {
-  for (int i = 0; i < 4; i++) {
+  for (int i = 0; i < MAX_COMMAND_LENGTH; i++) {
     command[i] = '0';
   }
 }
 
+void blinkLed() { 
+  analogWrite(LED_PIN, 10);
+  delay(50);
+  digitalWrite(LED_PIN, LOW);
+}
+

  isMoveBackward = command[1] == '1';
  isMoveLeft = command[2] == '1';
  isMoveRight = command[3] == '1';
  
  comply();
}

void moveForward() {
//  analogWrite(MOTOR_PIN, 200);
  digitalWrite(MOTOR_PIN, HIGH);
}

void stopMoving() {

  else if (isMoveRight)
    right();
  else
    center();

  if (isHeartBeat)
    blinkLed();
}

void setup() {
  Serial.begin(9600);
  servo.attach(SERVO_PIN);
  pinMode(MOTOR_PIN, OUTPUT);
  pinMode(LED_PIN, OUTPUT);
}

void loop() {
  int i = 0;
  if (Serial.available() > 0 ) {
    char ch = Serial.read();
    if (ch == '\n') {
