       BZ n - sound buzzer for n milliseconds
       ST - stop
       SIG - sign Logobots name
+      TO x y
     */  
   
   if (c.startsWith("TO")) {
     // split out x and y co-ordinates
     int sp = c.indexOf(" ",3);
-    int x = c.substring(3,sp).toInt();
-    int y = c.substring(sp+1).toInt();
+    float x = c.substring(3,sp).toFloat();
+    float y = c.substring(sp+1).toFloat();
     driveTo(x,y);
   } else if (c.startsWith("FD")) {
-    int dist = c.substring(3).toInt();
+    float dist = c.substring(3).toFloat();
     drive(dist);
   } else if (c.startsWith("BK")) {
-    int dist = c.substring(3).toInt();
+    float dist = c.substring(3).toFloat();
     drive(-dist);
   } else if (c.startsWith("RT")) {
-    int angle = c.substring(3).toInt();
+    float angle = c.substring(3).toFloat();
     turn(-angle);
   } else if (c.startsWith("LT")) {
-    int angle = c.substring(3).toInt();
+    float angle = c.substring(3).toFloat();
     turn(angle);
   } else if (c.startsWith("ST")) {
     stepperL.stop();


// buffered text to "write" using the pen
String text = "";

// cmd received over serial - builds up char at a time
String cmd;


// position state info
struct POSITION {
  float x;
  float y;
  float ang;
};
POSITION position;

