 }
 
 void moveActuator(ACT act) {
+  led(act);
+  panTilt(act);
+}
 
+void panTilt(ACT act) {
+  panServo.write(act.pan);
+  //tiltServo.write(act.tilt);
 }
+
+void led(ACT act) {
+  if (act.led == 1) {
+    digitalWrite(LED_BUILTIN, HIGH);
+  } else {
+    digitalWrite(LED_BUILTIN, LOW);
+  }
+}

  temp.pressure = 3024;
  temp.temp = 18.3;
  temp.volt = 10.8;
  temp.gyr.ax = 0;
  temp.gyr.ay = 0;
  temp.gyr.az = 0;
  temp.gyr.compass = 0;

  temp = mpuLoop(temp); // read orientation

  return  temp;
}

ACT communicate(SENS sens) {
  ACT temp;
  if (Serial.available() > 0) {
    //Receive data
    String incoming = Serial.readString();

    // Send data back
    String sending = createString(sens);
    Serial.println(sending);
  }

  return  temp;
}

ACT communicateProto(SENS sens) {
  ACT temp;
  if (Serial.available() > 0) {
    //Receive data
    String incoming = Serial.readString();
  }

  // Send data back
  String sendString = createString(sens);
  Serial.println(sendString);

  return  temp;
}

String createString(SENS sens) {
  String str = "SENSORS,";
  str += "press:";
  str += sens.pressure;

  str += sens.temp;
  str += ",volt:";
  str += sens.volt;
  str += ",curr:";
  str += sens.curr;
  str += ",roll:";
  str += sens.gyr.roll;
  str += ",yaw:";
