SerialSend

void SerialWrite() {
  static char aArray[3];
  if (MotA) aArray[0] = aArray[0] | 0b00000001; else aArray[0] = aArray[0] & 0b11111110;
  if (MotB) aArray[0] = aArray[0] | 0b00000010; else aArray[0] = aArray[0] & 0b11111101;
  if (MotC) aArray[0] = aArray[0] | 0b00000100; else aArray[0] = aArray[0] & 0b11111011;
  if (dirState == HIGH) aArray[0] = aArray[0] | 0b00001000; else aArray[0] = aArray[0] & 0b11110111;
  if (ActSpinState == HIGH) aArray[0] = aArray[0] | 0b00010000; else aArray[0] = aArray[0] & 0b11101111;
  if (ActDirStopState == HIGH) aArray[0] = aArray[0] | 0b00100000; else aArray[0] = aArray[0] & 0b11011111;
  if (accelState == HIGH) aArray[0] = aArray[0] | 0b01000000; else aArray[0] = aArray[0] & 0b10111111;
  aArray[1] = potZval / 100;
  aArray[2] = potXval / 100;
  Serial2.write(aArray, 3);
}

void SerialRead() {
  static char aArray[3];
  Serial.readBytesUntil(aArray, 3);
  if ((aArray[0] & 0b00000001) != 0) MotA = true; else MotA = false;
  if ((aArray[0] & 0b00000010) != 0) MotB = true; else MotB = false;
  if ((aArray[0] & 0b00000100) != 0) MotC = true; else MotC = false;
  if ((aArray[0] & 0b00001000) != 0) dirState = HIGH; else dirState = LOW;
  if ((aArray[0] & 0b00010000) != 0) ActSpinState = HIGH; else ActSpinState = LOW;
  if ((aArray[0] & 0b00100000) != 0) ActDirStopState = HIGH; else ActDirStopState = LOW;
  if ((aArray[0] & 0b01000000) != 0) accelState = HIGH; else accelState = LOW;
  potZval = aArray[1] * 100;
  potXval = aArray[2] * 100;
}