#define C_MOTOR 1
.
volatile char cmd = 0;
volatile char command = 0;
volatile unsigned char command1 = ' ';
volatile unsigned char command2 = ' ';
.
ISR(USART_RXC_vect) {
  cmd++;
  unsigned char rec = uartReceive();
.
  if (cmd == 1) {
    command1 = rec;
  } else if (cmd == 2) {
    command2 = rec;
  } else if (rec == '\n') {
    command = 0;
.
    // LEFT MOTOR or other command
    switch (command1) {
      case 'F': leftSpeed(255);
                command = C_MOTOR; break;
      case 'S': leftSpeed(0);
                command = C_MOTOR; break;
      case 'B': leftSpeed(-255);
                command = C_MOTOR; break;
    }
.
    // RIGHT MOTOR
    if (command == C_MOTOR) {
      switch (command2) {
        case 'F': rightSpeed(255); break;
        case 'S': rightSpeed(0); break;
        case 'B': rightSpeed(-255); break;
      }
    }
  }
}
redOn();
while (!readButton());
  redOff();
  int speed = 200;
.
  while (1) {
    if (BLACK(LINE3)) {
        leftSpeed(speed);
        rightSpeed(speed);
      } else if (BLACK(LINE5)) {
        leftSpeed(speed);
        rightSpeed(-speed);
      } else if (BLACK(LINE1)) {
        leftSpeed(-speed);
        rightSpeed(speed);
      } else if (BLACK(LINE4)) {
        leftSpeed(speed);
        rightSpeed(0);
      } else if (BLACK(LINE2)) {
        leftSpeed(0);
        rightSpeed(speed);
      } else {
        leftSpeed(speed);
        rightSpeed(speed);
      }
  }
// Uložení příznaku do EEPROM
eeprom_write_byte((unsigned char*)0x00, 0x01);
wdt_enable(WDTO_30MS); // Watchdog reset
while (1); // Nekonečná smyčka