mech_eng:
To be honest, I grabbed that part of the code from somewhere on the interwebs and tweaked it to make it work for me. I do not fully understand it, any simple way to explain to me how that part of the code works?
It looks like it is reading command data (left, right, speed) from Serial in a format like <123><2><-23><1><345>. What type of device or program is sending to it?
John