 #include "Device.h"
 #include "Timer.h"
 #include "FreeMem.h"
+
 
 Motors motors(9, 10, 11);
 Command cmd;

    if (s>c_motors) c_motors += min(aggro,s-c_motors);
    if (tilt_val<c_tilt) c_tilt -= min(aggro,c_tilt-tilt_val);
    if (tilt_val>c_tilt) c_tilt += min(aggro,tilt_val-c_tilt);
    tilt.writeMicroseconds(tilt_val);
    motors.go(c_motorp, c_motorv, c_motors);
  }


    Serial.print(",");
    Serial.print(s);
    Serial.print(";");
    Serial.print("servo:");
    Serial.print(c_tilt);
    Serial.print(";");
    Serial.print("starg:");
    Serial.print(tilt_val);
    Serial.print(";");
    Serial.print("ver:");
    //Version Number of last change from UTC date: .YYYYMMDDHHMMSS. If you make a change between this and the cockpit that requires the firmware to be in sync or it breaks the system your should update this version number
    // and update the cockpit software lib/OpenROVControler.js to check and ensure the firmware is at this version.
    Serial.print(".20130314034900");
    Serial.print(";");
    Serial.print("time:");
    Serial.println(millis());
  }
