     else if (c1 == 'k' && c2 == 'a') {
         // "ka" - keep alive for failsafe. Does nothing.
     }
+    else if (c1 == 'j' && c2 == 'r')
+    {
+        read_joystick();
+    }
+    else if (c1 == 'j' && c2 == 'd')
+    {
+        enable_joystick_drive(value);
+    }
     else {
         log(F("Ignoring unknown command"));
         return;

  right_motor_controller.attach(RIGHT_MOTOR_PIN);
  set_motor(LEFT_MOTOR, 0);
  set_motor(RIGHT_MOTOR, 0);
}

// Set a motor to a particular speed, or off.

    if (motor == LEFT_MOTOR)
    {
        left_motor_controller.write(servoValue);
        if (!joystick_drive_enabled)
        {
          log(F("Set left motor to:"), speed);
          log(F(" Left PWM value is:"), servoValue);
        }
    }
    else if (motor == RIGHT_MOTOR)
    {
        right_motor_controller.write(servoValue);
        if (!joystick_drive_enabled)
        {
          log(F("Set right motor to:"), speed);
          log(F(" Right PWM value is:"), servoValue);
        }
    }
}

