 
 // direction constants
 #define BACK_LEFT  '1'
-#define BACK		   '2'
+#define BACK       '2'
 #define BACK_RIGHT '3'
-#define SPIN_LEFT	 '4'
-#define STOP		   '5'
+#define SPIN_LEFT  '4'
+#define STOP       '5'
 #define SPIN_RIGHT '6'
-#define FWD_LEFT	 '7'
-#define FWD		     '8'
-#define FWD_RIGHT	 '9'
+#define FWD_LEFT   '7'
+#define FWD        '8'
+#define FWD_RIGHT  '9'
 // command types
 #define MOVEMENT   'M'
 #define SPEED      'S'


//-------------- Main supporting functions ------------

char* commandListen(char incoming){  // returns if a command has been called
  static char packet[2] = { 0, 0 }; // store potential incoming command packet
  // reset if a full packet has been recieved
  if(packet[0] && packet[1]){packet[0] = 0; packet[1] = 0;}

 * Compiled with Arduino IDE 1.6.5
 * The goal of this project is to provide remote control and some autonomous
 * program modes for a 2 wheeled robot driven by the 2x12 Sabertooth motor controller
 * NOTICE!! no ramping, assumes your motor controllor does it !!
 * This robot also has a IR long range distance sensor panned by a servo
 * in order to cover a range of posible obstacles
 * The readme will include details of remote control via serial port
