 
     //update and print position as we move
     currentSteps += dir;
+    //every 50,000 ms print new position
     if (i%500 == 0) printPosition();
     
     //wait for 100 ms

//        128
//        130
//        131
        driveClockwise(128, readValue, 1);
        driveClockwise(130, readValue, 1);
        driveClockwise(131, readValue, 1);

  if (Serial.available()) {
    char command = Serial.read();
    switch (command) {
      //emergency stom if command == 's' or 'S'
      case 's':
        e_stop = true;
        break;
