//declare variables
	int val;
	char c=0;
	
	//Display Banner
	putchar('R');
	putchar('O');
	putchar('B');
	putchar('O');
	putchar('T');
	putchar(' ');
	putchar('R');
	putchar('E');
	putchar('A');
	putchar('D');
	putchar('Y');
	putchar('!');
	putchar(13);putchar(10); //send newline
	
	//both motors full speed
	motorspeed(1,100);
	motorspeed(2,100);
	
	red(1);
	yellow(1);
	
	
	//get controls from serial line (wasd)
	while (1)
	{
	
		//wait for a charicter to be sent
		yellow(1);
		red(1);
		c=0;
		while (c==0)
		{
			c=getchar();
		}
		red(0);
		//putchar(c); //echo charicters back to the terminal
		yellow(0);
			
		switch (c)
		{
		case 'i':
			gofwd();
			break;
		case 'k':
			gorev();
			break;
		case 'j':
			pivotleft();
			break;
		case 'l':
			pivotright();
			break;
		case 'u':
			arcleft();
			break;
		case 'o':
			arcright();
			break;
		
		case '3':
			motorspeed(1,30);
			motorspeed(2,30);
			break;
		case '4':
			motorspeed(1,40);
			motorspeed(2,40);
			break;
		case '5':
			motorspeed(1,50);
			motorspeed(2,50);
			break;
		case '6':
			motorspeed(1,60);
			motorspeed(2,60);
			break;
		case '7':
			motorspeed(1,70);
			motorspeed(2,70);
			break;
		case '8':
			motorspeed(1,80);
			motorspeed(2,80);
			break;
		case '9':
			motorspeed(1,90);
			motorspeed(2,90);
			break;
		case '0':
			motorspeed(1,100);
			motorspeed(2,100);
			break;
		
		
		case 'm':
			stop();
			break;
			
		case 'x':
			shutdown();
			
		case 'p':
			goto program;
		}

		
	}