     //Serial.println(right);
   }
 
-  motorAllStop();
-
-  Serial.println("0RF");  
+  motorAllStop(); 
 }
 
 void robotBackwardDistance(int distance){
 
+  Serial.println("0RB");  
 
   // reset dynamicPositions
   resetDynamicPositions();

// Outbound message definitions
#define CHECKSUM_FAILED "0CF"
#define UNRECOGNIZED_COMMAND "0UC"

// Encoder Board Variables
#define ROTARY_SLAVE_ADDRESS 5
#define ROTARY_COUNT 6
#define PRINT_DELAY 200


int bytes_to_store = 0;


          case RIGHT:   robotRight(arg);
          break;

          case KICK: robotKick(arg);
          break;

          case GRAB: robotGrab(arg);
          break;
          
          case STORE: bytes_to_store = arg;
      
          default: Serial.println(UNRECOGNIZED_COMMAND); recognized = false;
          break;
      
        } // switch 
        if (recognized)
            done = true;
      } // if checksum
      else{
        // checksum is not correct, sig is therefore message was corrupted
