 #define RC_TX_PIN 11
 RoboClaw roboclaw(RC_RX_PIN, RC_TX_PIN);
 boolean driveEnabled = false;
+unsigned long lastDriveCommandTime;
+unsigned long driveCommandTimeout = 60000;
 
 // propulsion vars
 #define MOTOR_VELOCITY_0 64

  // serial input
  ReadSerial();
  if (IsConnected) CheckCommandTimeout();
  
  // motors
  if (motor_counter > 0) motor_counter--;

      else motor1 = motor1_target;
    }
    roboclaw.ForwardBackwardM1(RC_ADDR, motor1);
    lastDriveCommandTime = millis();
  }
  // M2
  if (motor2 != motor2_target)
