     motorRight.MoveTo(angleNow, 70); 
     serialFeedback();
     delay(1000);
-}
-
-void moveStraight(int millimeter) {
-    // motorLeft.MoveTo(360*500, carSpeed);
-    // motorRight.MoveTo(360*500, -carSpeed);
-    motorLeft.RunTurns(50, -carSpeed);
-    motorRight.RunTurns(50, carSpeed);
-    // delayMicroseconds(1);
-    delay(5000);
-    // delay(1000);  
 }
 
 void startSlowly() {

        arm.write(rise);
        delay(500); 
        
        moveStraight(40); // this command wasn't built yet
        delay(1000);
        
        receivedCommand = Serial1.read();

void loop()
{
    // startSlowly();
    moveStraight(300);
    // stopSlowly();
    // turnToDegree(90);
    // turnRight();
    // delay(3000);
    // grabOneTube(); 
}

// pre: the diameter of the wheel is motorDiameter
//      the radius to turn is DiameterToTurn
//      the angle the motor should turn could be calculated as 
//      motorDiameter * angleMotor =  angleTurning * DiameterToTurn
// 63 * 3.1416 millimeter per turn
// 63 * 3.1416 / 360 millimeter per degree
// 360 / 63 * 3.1416 degree per millimeter 

const int motorDiameter = 63; // in millimeter
const int Pi = 314;
const float mapConstant = 1.8189;

void moveStraight(int millimeter) {
    int degreeToTurn = millimeter * 1.8189;
    Serial.println(degreeToTurn);
    motorLeft.MoveTo(degreeToTurn, carSpeed);
    motorRight.MoveTo(-degreeToTurn, -carSpeed);
    serialFeedback();
    delay(1000);
}

int angleNow = 0;
// post: Turning left for the given angle
void turnToDegree(int angleTurning) {
    // stopSlowly();
    // int angleTotal = angleTurning * DiameterToTurn / motorDiameter;
    // int turnsTotal = angleTotal / 360;
    // int angleLeft = angleTotal % 360;
    angleNow += 180;
    motorLeft.MoveTo(angleNow, 70);
    motorRight.MoveTo(angleNow, 70);
