     if (cmd.cmp("tilt")) {
       cmd.parse(array);
       tilt_val = array[1];
-      //tilt.write(tilt_val);
     }
     else if (cmd.cmp("go")) {
       cmd.parse(array);
       p = array[1];
       v = array[2];
       s = array[3];
-      //motors.go(p, v, s); 
     }
     else if (cmd.cmp("light")) {
       cmd.parse(array);

  }

  //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--;

// the more the readings will be smoothed, but the slower the output will
// respond to the input.  Using a constant rather than a normal variable lets
// use this value to determine the size of the readings array.
const int numReadings = 30;

int readings[numReadings];      // the readings from the analog input
int index = 0;                  // the index of the current reading
