 #endif
 			case 17: motor_pwm[0] = v; break;
 			case 18: motor_pwm[1] = v; break;
-			case 20: trim[0] = v; break;
-			case 21: trim[1] = v; break;
-			case 22: trim[2] = v; break;
 
 			case 69: 
 				 bc = v/100.f;

		case 4:
			if (gyroCal()==0) 
				status = 5;
			p_millis = millis();
			break;

		case 5:

byte packet[4];

int yprt[4] = {0,0,0,0};

void motor_idle() {
	for (int i=0;i<4;i++)
