 
 const float ANGLE_CONVERSION = 4096.0/360.0;
 
+int heartbeat = 1;
+
 void setup()
 {
   Serial.begin(9600);

    stbd_thruster.write(stbd_power * POWER_CONVERSION + 90);
  }
}

  aft_thruster.attach(12);
  port_thruster.attach(14);
  stbd_thruster.attach(13);

  aft_thruster.write(90);
  port_thruster.write(90);
  stbd_thruster.write(90);
  
  pinMode(0, OUTPUT);
  digitalWrite(0, heartbeat);
}

void loop()
{
  if(Serial.available() > PACKET_SIZE && Serial.read() == '-')
  {
    heartbeat = !heartbeat;
    digitalWrite(0, heartbeat);

    for(int i = 0; i < PACKET_SIZE; i++)
    {
      packet[i] = Serial.read();
