 
 #include <Wire.h>
 #include "MS5837.h"
-#include "PCA9685.h"
+/* #include "PCA9685.h" */
 #include "ADC121.h"
 #include "Adafruit_INA219.h"
+#include <Servo.h>
 
 #define BUFFER_SIZE 64 //may need to change
 #define NUM_THRUSTERS 8
 
-#define THRUSTER_NEUTRAL 1285
+#define THRUSTER_NEUTRAL 1520
 /// THRUSTER_NEUTRAL - 256
-#define THRUSTER_MIN 1029U
+#define THRUSTER_MIN 1000U
 // THRUSTER_NETURAL + 256
-#define THRUSTER_MAX 1541U
+#define THRUSTER_MAX 2000U
 
 // Time(ms) arduino waits without hearing from jetson before turning off thrusters
 #define ALIVE_TIMEOUT 5000


void thrustersNeutral() {
  for ( int i = 0; i < NUM_THRUSTERS; i++ ) {
    pca.thrusterSet(i, THRUSTER_NEUTRAL);
  }
}


// Placeholder, needs to get depth from I2C, then println it to serial
void getDepth() {

  */


  if(millis() > led_time){
      led_state = (led_state == HIGH) ? LOW : HIGH;
      digitalWrite(LED_PIN, led_state);
      led_time = millis() + LED_BLINK_LEN;
  }

  counter += 1;
  delay(1);
