 
 void setup(void)
 {
-  int i;
-  for(i=5;i<=8;i++)
-  pinMode(i, OUTPUT);
+  for(int i=5;i<=8;i++) {
+    pinMode(i, OUTPUT);
+  }
   
   servo.attach(SERVO_PIN);
   servo.write(currentServoAngle);

  servo.write(currentServoAngle);
}

void handleSerial(char val) {
  int leftspeed = 255;   // 255 is maximum speed
  int rightspeed = 240;  // Adjust for skew 
  switch(val) // Perform an action depending on the command
  {
    case 'w'://Move Forward
    case 'W':

  }
}

void stop(void)
{
  digitalWrite(E1,LOW);
  digitalWrite(E2,LOW);
