public void print(){

      System.out.println("left "+ lval); //Output readings, so we can troubleshoot along the way.
      System.out.println("right "+ rval);
      System.out.println("control " +control*0.6);
      System.out.println ("i is: " + i);
      System.out.println("lval2 " + lval2);
      System.out.println("rval2 " + rval2);
      LCD.refresh();

  }