 #define LED_GREEN 53
 #define LED_YELLOW 52
 #define LED_RED 7
-#define TERMINATE_BUTTON 51
 #define BUFFSIZE   255
 #define MAX_POWER  400
 #define DELAY 50 // Smaller delay breaks everything about communication

  pinMode(LED_YELLOW, OUTPUT);
  pinMode(LED_RED, OUTPUT);
  pinMode(TRIG_PIN, OUTPUT);
  pinMode(ECHO_PIN, INPUT);
  pinMode(TERMINATE_BUTTON, INPUT);
  //pinMode(FL, INPUT);
  Serial.begin(115200);
  delay(1000);
  Serial.println("All power to the engines!");


void loop() {
 Serial.print(analogRead(FR));Serial.print(" - ");Serial.println(analogRead(FL));
  //Go in emergency mode after two bad readings from sensor
  if (MOV_DEBUG_MODE){
    Serial.print("FL reading: ");
