   Serial.print('-');
   Serial.print(irB_counter);
   Serial.print('&');
+}
+void encoder_calibrate(){
+  while(Serial.available () < 2);//wait for the motor speed info
+    irA_block = Serial.parseInt();//motor A speed
+    irB_block = Serial.parseInt();//motor B speed
 }
 
 //------------------CODEs---------------------

int irA_counter = 0;
int irB_counter = 0;

//-------------------FUNCTIONs----------------
void stop_motor_ALL(){
  

              if(command_status == 1){
                encoder_report();
              }
            case 'j':
              if(command_status == 1){
                encoder_calibrate();
              }
              break;
            break;
            default:
              //Serial.print("Hello11");
