 // controller.  See LICENSE and README
 // for more information.
 
+#include <Wire.h>
+
 
 /// pin configurations and constants
 //
 
-#define ENABLE 1
-#define DISABLE 0
-
-#define FULL 0xFF
-#define HALF 0x7F
-#define ZERO 0x00
+#define ENABLE true
+#define DISABLE false
 
 // serial
 #define SERIAL_SPEED 115200
 
 // state pins
 #define PIN_LED 13 // status
-#define PIN_ENABLE 2 // this should be high to run
+#define PIN_ENABLE A1 // this should be high to run
 
 // helm pins
 #define PIN_PITCH_U 12

void setup()
{
  setupSerial();
  setupState();
  setupHelm();
  setupOps();


void updateHelm()
{
  pitch_adj = readDirection(PIN_PITCH_U, PIN_PITCH_D, pitch_adj);
  pitch = setDirection(pitch, pitch_adj, pitch_stick);
  Serial.println(pitch)
  
  // roll
  //
  //

  // yaw
  //
  //

  throttle = readThrottle(PIN_THROTTLE);
  Serial.println(throttle);
}

void updateOps()
{
  uint8_t ops = 0;
  uint8_t index = 0;


  for (index = 0; index < OPS; index++)
