 
 void hideRaw() {
   xv_config.raw_data = false;
-  Serial.println(F(" "));
-  Serial.print(F("Raw lidar data disabled"));
-  Serial.println(F(" "));
+  //Serial.println(F(" "));
+  //Serial.println(F("Raw lidar data disabled"));
 }
 
 void showRaw() {
   xv_config.raw_data = true;
   hideDist();
   hideRPM();
-  Serial.println(F(" "));
-  Serial.print(F("Lidar data enabled"));
-  Serial.println(F(" "));
-}
-
+  //Serial.println(F(" "));
+  //Serial.println(F("Lidar data enabled"));
+}
+
+void setLowRPM(double sVal) {
+  xv_config.rpm_setpoint = sVal;
+}
 void setRPM() {
   double sVal = 0.0;
   char *arg;

  for (ixPacket = 0; ixPacket < PACKET_LENGTH; ixPacket++)  // Initialize
    Packet[ixPacket] = 0;
  ixPacket = 0; 

}
// Main loop (forever)
void loop() {

  Serial.println(F(" "));

  Serial.println(F("List of available commands (case sensitive)"));
  Serial.println(F("  HideRaw       - Stop outputting the raw data from the lidar"));
  Serial.println(F("  ShowRaw       - Enable the output of the raw lidar data (default)"));
  Serial.println(F("  ShowDist      - Show the distance data"));
  Serial.println(F("  HideDist      - Hide the distance data"));
  Serial.println(F("  ShowAngle     - Show distance data for a multiple angles (Ex: ShowAngle 0, 15-30, 45-50, 10)"));
  Serial.println(F("  HideAngle     - Hide distance data for all angles"));
  Serial.println(F("  ShowErrors    - Show all error messages"));
  Serial.println(F("  HideErrors    - Hide error messages"));
  Serial.println(F("  ShowConfig    - Show the running configuration"));
  Serial.println(F("  SaveConfig    - Save the running configuration to EEPROM"));
  Serial.println(F("  ResetConfig   - Restore the original configuration"));
  Serial.println(F("  SetRPM        - Set the desired rotation speed (min: 180, max: 349)"));
  Serial.println(F("  SetKp         - Set the proportional gain"));
  Serial.println(F("  SetKi         - Set the integral gain"));
  Serial.println(F("  SetKd         - Set the derivative gain"));
  Serial.println(F("  SetSampleTime - Set the frequency the PID is calculated (ms)"));
  Serial.println(F("  ShowRPM       - Show the rotation speed"));
  Serial.println(F("  HideRPM       - Hide the rotation speed"));
  Serial.println(F("  ShowInterval  - Show time interval per revolution in ms, at angle=0"));
  Serial.println(F("  HideInterval  - Hide time interval"));
  Serial.println(F("  MotorOff      - Stop spinning the lidar"));
  Serial.println(F("  MotorOn       - Enable spinning of the lidar"));
  Serial.println(F(" "));
  Serial.println(F("Output comma-separated format:"));
  Serial.println(F("  A,<Angle>,<Distance in mm>,<Strength>"));
  Serial.println(F("  C,-1 means CRC error was generated by LIDAR"));
  Serial.println(F("  T,<Time interval in milliseconds>"));
  Serial.println(F(" "));
  Serial.println(F("Errors:"));
  Serial.println(F("  -1 = CRC Error"));
  Serial.println(F("  -2 = LIDAR reports Invalid data for this angle"));
  Serial.println(F("  -3 = LIDAR reports Poor signal strength for this angle"));
  Serial.println(F(" "));
}

