Arduino Motor Serial

<p></p>#define numOfValsRec 2
#define digitsPerValRec 4
int valsRec[numOfValsRec];
int stringLength = numOfValsRec * digitsPerValRec + 1;
int counter = 0;
bool counterStart = false;
String receivedString;
int myPins[6] = {3, 4, 5, 11, 10, 9};
void moveRobot (int mySpeed, int myTurn, int maxSpeed = 255)
{
  /*
     mySpeed and myTurn range from -100 to 100
     + val of mySpeed is forward and - is backwards
     + val of myTurn is left and - is right
  */
  mySpeed = map(mySpeed, -100, 100, -maxSpeed, maxSpeed);
  myTurn = map(myTurn, -100, 100, -maxSpeed, maxSpeed);
  int leftSpeed = mySpeed - myTurn;
  int rightSpeed = mySpeed + myTurn;
  leftSpeed = constrain(leftSpeed, -maxSpeed, maxSpeed);
  rightSpeed = constrain(rightSpeed, -maxSpeed, maxSpeed);
  if (rightSpeed > 0) {
    digitalWrite(myPins[1], 0);
    digitalWrite(myPins[2], 1);
  }
  else {
    digitalWrite(myPins[1], 1);
    digitalWrite(myPins[2], 0);
  }
  if (leftSpeed > 0) {
    digitalWrite(myPins[3], 0);
    digitalWrite(myPins[4], 1);
  }
  else {
    digitalWrite(myPins[3], 1);
    digitalWrite(myPins[4], 0);
  }
  analogWrite(myPins[0], abs(rightSpeed));
  analogWrite(myPins[5], abs(leftSpeed));
}
                                                                                    
void receiveData()
{
  while (Serial.available()) {
    char c = Serial.read();
    if (c == '$') {
      counterStart = true;
    }
    if (counterStart) {
      if (counter < stringLength) {
        receivedString = String(receivedString + c);
        counter++;
      }
      if (counter >= stringLength) {
        for (int i = 0; i < numOfValsRec; i++)
        {
          int num = (i * digitsPerValRec) + 1;
          valsRec[i] = receivedString.substring(num, num + digitsPerValRec).toInt();
        }
        receivedString = "";
        counter = 0;
        counterStart = false;
      }
    }
  }
}
void setup() {
  
 for (int i = 0; i < 6; i++) {
    pinMode(myPins[i], OUTPUT);
  }
  pinMode(13, OUTPUT);
  Serial.begin(9600); 
}
void loop() {
  receiveData();
  moveRobot(valsRec[0], valsRec[1]);
}<p>