Arduino Code

void setup()      //Initial setups, these are called once on startup only
{
  pinMode(0, OUTPUT);                  // set pin 50 to output
  pinMode(1, OUTPUT);                  // set pin 51 to output
  pinMode(2, OUTPUT);                  // set pin 52 to output
  pinMode(3, OUTPUT);                  // set pin 53 to output
  stepperL.setSpeed(30);                //Set speed of steppers at 60 RPM
  stepperR.setSpeed(30);                //"
  Serial.begin(19200);                  //Start serial connection to PC
  Serial1.begin(19200);                 //Start listening to Electric Imp
  Serial.println("Platform ready.");    //Message that platform is ready for commands
  Serial1.print("Platform ready.");     //Message to Imp
}

//LOOP//////////////////////////////////////////////////////////////////////////////////////////////////////

void loop()
{
  if (Serial1.available()){              //When a command is received...

    retrieveCommand();                   //Retrieve values from received string
    forward(y);
  }
  Serial1.print("Hello World");
  Serial.println("Hello World");
}