   motors.reset();
   
   time.reset();
+  statustime.reset();
+  controltime.reset();
 
 // initialize all the readings to 0: 
   for (int thisReading = 0; thisReading < numReadings; thisReading++)

Device iout("iout", 3, iout.analog, iout.in);
Device light("light", 5, light.analog, light.out);
Timer time;

Servo tilt;
// IMPORTANT!

  }

  //to reduce AMP spikes, smooth large power adjustments out
  if (controltime.elapsed (100)) {
    if (p<c_motorp) c_motorp--;
    if (p>c_motorp) c_motorp++;
    if (v<c_motorv) c_motorv--;
