if(command.ReadMsgs() > 0){
    digitalWrite(0,HIGH-digitalRead(0));
    if((command.walkV) > 5 || (command.walkV < -5) ){
    Xspeed = multiplier*(command.walkV);
//    bodyPosX = (-(float)command.walkV)/2;
    }else{
      Xspeed = 0;
    }
    if((command.buttons&BUT_LT) > 0){
      if((command.walkH) > 5 || (command.walkH < -5) ){
      Yspeed = (2*(command.walkH));
      }
      else
      {
        Yspeed = 0;
      }
  }
  else
  {
      Rspeed = -(command.walkH)/150.0;
      Yspeed = 0;
  }
  }