   while (!TX_found) {
     //read in the from the controller
     steer_input = pulseIn(STEER_IN, HIGH, 25000);
-    throttle_input = pulseIn(THROTTLE_IN, HIGH, 25000);
-    //Serial.println(steer_input);
-    //Serial.println(throttle_input);
-
-    //toggle red led while waiting to arm
-    toggle_LED(LED_RED, true);
-    delay(10);
-    toggle_LED(LED_RED, false);
-    delay(10);
 
     if (steer_input > (STEER_MAX - 100) && !TX_high) {
       commander.sendCmd(cmd_info, "LEFT RX");


  //decay rpms incase vehicle has stopped
  rpm_decay++;
  if (rpm_decay >20){
    rpm = 0;
    rpm_decay = 0;
    commander.sendBinCmd(cmd_rpm, rpm);

}

void write_rpms(){
  if (half_revolutions >= 4) {
     rpm = 30 * 1000/(millis() - timeold) * half_revolutions;
     rpm_decay = 0;
     timeold = millis();
