  * 50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
  * 60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
  * 70: -- -- -- -- -- -- -- --
- * # i2cget -y 1 4 0  ## get left PWM duration
- * 0x60
- * # i2cget -y 1 4 1  ## get right PWM duration
- * 0x60
- * # i2cget -y 1 4 2  ## get battery voltage/2 (0-255)
- * 0xbe
- * # i2cset -y 1 4 0 160 ## set left PWM duration
- * # i2cset -y 1 4 1 160 ## set right PWM duration
+ *
+ * If the device doesn't show up (i.e. the 04), then
+ * check the connections.
+ *
+ * # sudo i2cget -y 1 4 0 w    ## get left servo pulse duration
+ * 0x05dc                      ## 0x05dc = 1500 microsecond pulse
+ *
+ * # sudo i2cget -y 1 4 2 w    ## get right servopulse duration
+ * 0x05dc
+ *
+ * # sudo i2cget -y 1 4 4 w    ## get battery voltage
+ * 0x138e                      ## 0x138e = 5006 microVolts
+ *
+ * # sudo i2cset -y 1 4 0 1200 ## set the left servo pulse to 1200 us
+ * # sudo i2cset -y 1 4 2 1500 ## set the right right pulse to 1500 us
+ *
+ * *** There are intermittent I2C failures. I have not tracked them down. ***
  *
  * Programming an ATtiny85 with an Arduino Uno
  *

 * Pin   Function
 * 1     NRESET
 * 2     PB3 - Battery level/2 * 3.3/255
 * 3     PB4 - Right servo
 * 4     GND
 * 5     PB0 - I2C SDA
 * 6     PB1 - Left servo
 * 7     PB2 - I2C SCL
 * 8     VCC (+3.3V)
 */

 *    Arduino sketchbook directory is. These files come from http://hlt.media.mit.edu/?p=1229,
 *    but they're not always available. As a bonus, I've already made
 *    a boards.txt that defines the right ATtiny85 configuration for this project. 
 * 2. In ~/sketchbook/libraries, run:
 *       git clone https://github.com/rambo/TinyWire.git
 * 3. Restart the Arduino IDE if you have it open, so that it finds the TinyWireS library
 * 4. In the Arduino IDE, program the ArduinoISP firmware onto the Uno 
 *    (it's an example Arduino program)
 * 5. In Arduino IDE, set the board to "ATtiny85 @ 8 MHz (internal oscillator; BOD disabled)
 * 6. Set the programmer to "Arduino as ISP"
 *
 *  -- Setup steps are done --
 *
 * 7. Wire the Uno to the ATtiny85 like this:
 *      Arduino +5V    ---> ATtiny Pin 8
 *      Arduino Ground ---> ATtiny Pin 4
 *      Arduino Pin 10 ---> ATtiny Pin 1
