       case 'd':
       // Stopping
       Serial.println("Stop");
-      drive(0,0,0);
+      drive_stop();
       break;
     }
   }


void loop()
{
}

// Drive left and right wheel motors for dt milliseconds, blocking
void drive(int vl, int vr, int dt_millis) {
  motors.setLeftSpeed(vl);
  motors.setRightSpeed(vr);
  delay(dt_millis);
  motors.setLeftSpeed(0);
  motors.setRightSpeed(0);
}

#include <ZumoMotors.h>
#include "Timer.h"

#define LED_PIN 13

