   digitalWrite(motor_x[1], LOW);
   digitalWrite(motor_y[0], LOW);
   digitalWrite(motor_y[1], LOW);
-  
-  while (!Serial.available());
-  Serial.println("Starting Serial Communication");
 }
 
 void loop() {


void setup() {
  Serial.begin(9600);

  // Setup motors
  int i;

    Serial.readBytes(&command, 1);
    Serial.println(command, BIN);

    // Determine whether to full stop motors, servo command, or move command
    if (command & FULL_STOP) {
      Serial.println("Full stop");
      digitalWrite(motor_x[0], LOW);
      digitalWrite(motor_x[1], LOW);
      digitalWrite(motor_y[0], LOW);
      digitalWrite(motor_y[1], LOW);
    } else if (command & SERVO_CONTROL) {
      uint8_t angle = command & SERVO_MASK;
      if (angle > 60) {
        angle = 60;
      }
      
      int real_angle = angle * SERVO_INC;
      servo.write(real_angle);
    } else {
      uint8_t axis = 0;
      if (command & AXIS_Y) {
