 USBHost Usb;
 ADK adk(&Usb, manufacturer, model, accessoryName, versionNumber, url, serialNumber);
 // End ADK configuration
-bool DEBUG_MODE = true;
-
+// Debug mode for communication
+bool COM_DEBUG_MODE = false;
+// Debug mode for movment
+bool MOV_DEBUG_MODE = true;
 uint8_t inBuffer[BUFFSIZE];
 uint8_t outBuffer[BUFFSIZE];
 char inStringBuffer[BUFFSIZE];
 char outStringBuffer[BUFFSIZE];
 uint32_t bytesRead = 0;
 
-DualMC33926MotorShield tank;
 
 // Test Variabiles
 int randomint;

  memset(inStringBuffer, 0, BUFFSIZE);
  if (bytesRead > 0) {
    memcpy(inStringBuffer, inBuffer, bytesRead);
    if (DEBUG_MODE) {
      Serial.print("\nReceiving | ");
      Serial.print(inStringBuffer);
      Serial.print(" | ");

  sprintf(outStringBuffer, "%d,%d,%d", command, param1, param2);
  memcpy(outBuffer, outStringBuffer, BUFFSIZE);
  adk.write(strlen(outStringBuffer), outBuffer);
  if (COM_DEBUG_MODE) {
    Serial.print("\nSending | ");
    Serial.print(outStringBuffer);
    Serial.print(" | ");
