 void Land()
 {
   double Height = 0;
-  for (int i = 0; i < 4; ++i)
-    SetMotor(i, SERVO_HOVER - 250); // Put all four motors on low power, but can still go up.
+  SetAllMotors(SERVO_HOVER - 250); // Put all four motors on low power, but can still go up.
     
   while (Height > .5)
   {
     Height = 0; // Fill this in with the actual height-finding code later
   }
-  for (int i = 0; i < 4; ++i)
-    SetMotor(i, SERVO_OFF);
+  SetAllMotors(SERVO_OFF);
 }
 
 void setup() {
+  Serial.begin(9600);
 #ifdef TEST_CONTROLS
   ManualControl = true;
 #else

void LiftOff(float feet){
  double Height = 0; 
  // Read the height from the ultrasonic sensors 
  for (int i = 0; i < 4; ++i)
    SetMotor(i, SERVO_HOVER + 250); // Put all four motors on low power, but can still go up.
    
  while (Height < feet)
  {

{
  ControllerInput Result;

  const short CONTROL_THROTTLE = 6;
  const short CONTROL_PITCH    = 7;
  const short CONTROL_YAW      = 8;
  const short CONTROL_ROLL     = 9;
  
  Result.Throttle = analogRead(CONTROL_THROTTLE);
  Result.Pitch = analogRead(CONTROL_PITCH);
