   Serial.println("left");
 }
 
+void left (char a,char b, int ms) {
+  left(a,b);
+  delay(ms);
+  stop();  
+}
+
 void right (char a,char b)
 {
   analogWrite (E1,a);

  analogWrite (E2,b);
  digitalWrite(M2,HIGH);
  Serial.println("right");
}

void moveServoUp(int amount) {


void handleSerial(char command) {
  int leftspeed = 255;   // 255 is maximum speed
  int rightspeed = 255;  
  switch(command) // Perform an action depending on the command
  {
    case 'w'://Move Forward
