     digitalWrite(BMOTOR, HIGH);
   
 }
-void move_right(){
+void move_in(){
     digitalWrite(DIR_A, HIGH);
     digitalWrite(DIR_B, LOW);
 

          // read the incoming byte:
          input = Serial.read(); //single character
          
          Serial.print("I received as a char: ");
          Serial.println(input);

          switch(input){
            
            case 'w':
              move_foward();
              break;
            case 's':
              move_reverse();
              break;
            case 'a':
              move_left();
              break;
            case 'd':
              move_right();
              break;
            case 'x':
              stop_motor();

              us_sensor();
              interrupts();
              break;
            case 'e':
              servo_info();
              break;
            case 't':
