     count++;
     delay(10);
   } while(count != sizeof(readline) && Serial.available() > 0);
-  
+
   val = atoi(strtok(readline, DELIMITER));
-  if (val >= 0 && val < UPPERBOUND_X) requestedX = val; 
-  else inputError += 1; //0001 -> bad x
-  val = atoi(strtok(NULL, DELIMITER));
-  if (val >= 0 && val < UPPERBOUND_Y) requestedY = val; 
-  else inputError += 2; //0010 -> bad y
-  val = atoi(strtok(NULL, DELIMITER));
-  if (val >= 0 && val < UPPERBOUND_R) requestedR = val; 
-  else inputError += 4; //0100 -> bad r
-  val = atoi(strtok(NULL, ENDCHAR));
-  if (val >= 0 && val < UPPERBOUND_E) requestedE = val; 
-  else inputError += 8; //1000 -> bad e
+  if (val == 170)
+  { 
+    val = atoi(strtok(NULL, DELIMITER));
+    if (val < 0) requestedX = 0; 
+    else if (val >= UPPERBOUND_X) rewuestedX = UPPERBOUND_X - 1;
+    else requestedX = val;
+    val = atoi(strtok(NULL, DELIMITER));
+    if (val < 0) requestedY = 0; 
+    else if (val >= UPPERBOUND_Y) rewuestedY = UPPERBOUND_Y - 1;
+    else requestedY = val;
+    val = atoi(strtok(NULL, DELIMITER));
+    if (val < 0) requestedR = 0; 
+    else if (val >= UPPERBOUND_R) requestedR = UPPERBOUND_R - 1;
+    else requestedR = val;
+    val = atoi(strtok(NULL, ENDCHAR));
+    if (val < 0) requestedE = 0; 
+    else if (val >= UPPERBOUND_E) rewuestedE = UPPERBOUND_E - 1;
+    else requestedX = val;
+  }
  
   memset(&readline[0], 0, sizeof(readline)); 
+
+  Serial.println("200");
   
 }
 

  
}

void RequestPCInstruction()
{
  
  Serial.println(inputError); //Inform PC if any inputs are invlaid
  inputError = 0;  

}

void UserButton1() //Tell machine to move out of the way
{
  
  if (userControl)
  {
    if(requestedX != 0) requestedX = 0;
    else requestedX = UPPERBOUND_X - 1;
  }
  
}

void UserButton2() //Tell machine to take another turn
{

  if (userControl)
  {
    requestedX = currentX;
    userControl = false;
  }
   
}

///////////////////////////////////////////////////////////////////////////////////////////

  currentR = UPPERBOUND_R / 2;
  MoveXYR();
  AllowUserTurn(); 
  
}

void RequestPCInstruction() //Loop during PC operation
{
    
  char readline[32];
  char aChar;
  int val;
  int count = 1500;

  memset(&readline[0], 0, sizeof(readline));
  
  do {
    count++;
    if(count > 1500) //Send request every 15s
    {
      Serial.println("55");
      count = 0;
    }
    delay(10); 
  } while(Serial.available() <= 0); //Will loop forever until something entered into Serial Monitor

  count = 0;
   
  do {
    aChar = Serial.read();
