 
     // initial state setup
     initDefaultState();
+
+    // initial start delay
+    delay(3000);
 }
 
 void loop()
 {
-    static bool led = true;
     setDrivemode(DRIVEMODE_ONE);
-    delay(3000);
-    setDrivemode(DRIVEMODE_OFF);
+    setJoy(0,0);
     while (1) {
-        while (UART_available()) {
-            UART_char(' ');
-            uint8_t in = UART_getchar();
-            UART_signed(in, 16);
-            UART_char(' ');
-        }
-        UART_char(led + 48);
-        UART_char(8);
-        setLED(led ? LED0 | LED1 : LED1);
-        led = !led;
-        delay(2000);
-    }
-}
+    }
+}

    //
    // set angle / push to 0's initially
    setAnglePush(0, 0);
}

// Interrupt ticks at 1024Hz

        xpos = 0;
        ypos = 0;
    }

    UART_string((char*)"setJoy(");
    UART_signed(xpos,10);
    UART_string((char*)",");
    UART_signed(ypos,10);
    UART_string((char*)")");
    UART_crlf();

    // -xpos is left, +xpos is right
    state.joyx = JOY_STOP + xpos;
    // flip sign of fwd/bkw signal
