   if (doSerialInterface){
      Serial1.begin(115200);
   } //if doSerialInterface
-
-  Serial.println("\nSetup function completed");
 }//End of setup function 
 
 


  // Connect to the PC's serial port via the Arduino programming USB connection. 
  // This used mainly for printing de-bugging information to the PC's serial terminal
  // during testing.
  Serial.begin(115200);




  //the variable thisStep can take on one of four values for each axis
  //Calculate all of these here
  for (ii=0; ii<numAxes; ii++){
    for (jj=0; jj<4; jj++){
      if (axisPresent[ii]){
           thisStep[ii][jj] = (fullStep[ii]/360) * stepSize[jj] * gearRatio[ii];
      } //if axisPresent
    } // jj for loop
  } //ii for loop


  if (doGamePad){
    // Poll the USB interface a few times. Failing to do this causes the motors to move during 
