     analogWrite(pwmPin, 0);
   }
   delay(5);
+  currentVal = newVal;
 }
 
 void loop() {
   // put your main code here, to run repeatedly:
+  setActuator(changedVal);
 }
 
 // callback for received data

  while(Wire.available()) {
    int newVal = Wire.read();
    if (newVal <= 200) {
      int change = newVal - currentVal;
      Serial.println(change);
      setActuatorValue(change);
      currentVal = newVal;  
    }
  }
}

#define dirPin 2

int currentVal = 0;
int changedVal = 0;

void setup() {
  // put your setup code here, to run once:
