   if (cmd == 'R' || cmd == 'r') { motor1_target = MOTOR_VELOCITY_0 + motor_velocity; motor2_target = MOTOR_VELOCITY_0 - motor_velocity; }
   else
   if (cmd == 'S' || cmd == 's') { driveStop(); }
+  else
+  if (cmd == 'E' || cmd == 'e') { driveInit(buf[2] == '1'); }
   else
   if (cmd == 'V' || cmd == 'v')
   {

  pinMode(4, INPUT_PULLUP);
  pinMode(5, INPUT_PULLUP);
  pinMode(6, INPUT_PULLUP);
  pinMode(7, INPUT_PULLUP);
  pinMode(8, INPUT_PULLUP);
  pinMode(9, INPUT_PULLUP);
  pinMode(10, INPUT_PULLUP);
  
  // start ports
  roboclaw.begin(38400);
  Serial.begin(38400);
}

void loop()
{

  else
  if (cmd == 'V' || cmd == 'v') ver();
  else
  if (cmd == 'P' || cmd == 'p') power();
  else
  if (cmd == 'S' || cmd == 's') settings();
  else
  if (cmd == 'B' || cmd == 'b') battery();
  else
