if(val != -1)

{

switch(val)

{

case 'w'://Move Forward

advance (255,255);

//move forward in max speed

break;

case 's'://Move Backward

back_off (255,255);

//move back in max speed

break;

case 'a'://Turn Left

turn_L (100,100);

break;

case 'd'://Turn Right

turn_R (100,100);

break;

case 'z':

Serial.println("Hello");

break;

case 'x':

stop();

break;

}

}

else stop();

}

}

PLL Control Mode

The Romeo also supports PLLPhase locked loop control mode.