 // temp. for nominal resistance (almost always 25 C)
 #define TEMPERATURENOMINAL 25   
 // The beta coefficient of the thermistor (usually 3000-4000)
-#define BCOEFFICIENT 3950
+#define BCOEFFICIENT 3900
 // the value of the 'other' resistor
 #define SERIESRESISTOR 3300    
 

    steinhart = 1.0 / steinhart;                 // Invert
    steinhart -= 273.15;                         // convert to C
    
    Serial.print("RPM:  ");Serial.println(rpm/(dt/1000000.0f)*60/6);
    Serial.print("VBat: ");Serial.println(float(vbat)/65536*5*6.45);
    Serial.print("Temp: ");Serial.println(steinhart);
    Serial.print("Curr: ");Serial.println((float(curr)-32768)/65536*5*14.706);    
    Serial.println("---------------------");
  }
}

  static uint32_t writeTimer = 0;
  static uint32_t readTimer = 0;
  
  static int16_t signal = 0;
  
  if ( millis() - writeTimer > 100 ) {
    writeTimer = millis();
  
    static int16_t increment = 200;
    
    if (Serial.available()) {
      signal = Serial.parseInt();
    }
    
    //Serial.print("Sending ");Serial.print(signal);
    setESC(I2C_ADDR,signal);
    
    /*signal += increment;
    
    if ( abs(signal) > 32500 ) {
      increment = -increment;
    }*/
  }
  
  if ( micros() - readTimer > 100000 ) {
    uint32_t dt = micros() - readTimer;
    
    readTimer = micros();
