This Arduino code modifies a twin-wheeled robot to use a Sabertooth motor controller with a simplified serial protocol. It tests communication between the Arduino, Sabertooth, and motors. A deadman switch cuts power if released for safety. The motors gradually increase in speed from 0-50% of full power over 5 seconds, then decrease from 50-0% over 5 more seconds in a continuous loop. Both wheels must spin at the same speed and direction or the robot will not drive straight.