   goToAngle(50, 40, SPEED); //sets the gimbal to parallel as default
 
   //enables serial
-  Serial1.begin(115200);  
+  //SoftwareSerial upBoard (rxPin, txPin);
+  upBoard.begin(115200);
   Serial.begin(115200);
   Serial.println("Ready");
-  Serial1.println("hello??");
+   
+  upBoard.println("hello??");
+  
 }
 
-void loop() 
+void loop()
 {
+ 
   //used to track parallel or perpendicular
   static boolean isParallel = true;
-  if (Serial1.available())
+  if (upBoard.available())
   {
     //reads as a string to allow for 'change' to be a condition
     String in;
     int i = 0;
-    in = Serial1.readString();
+    in = upBoard.readString();
     Serial.println(in);
     char inC[in.length()];
     in.toCharArray(inC, in.length());
-    
+
     //allows yChange to default to the previous value. If input is invalid the gimbal doesn't move.
     byte pChange = pitch.read();
     byte rChange = roll.read();

/*
 * @author: jstuder
 * 
 */
#include <Servo.h>

//the servo to counter the pitch of the drone
Servo pitch, roll;
const int PARALLEL = 50; //45 allows for 30 degrees of + and - with ease
const int PERPENDICULAR = PARALLEL + 90; 

//A constant to control the speed of angle change, lower is faster
const int SPEED = 10;

/*
 * @parameters
 *  byte angle -> the angle you want to go to
 *  int speed -> the delay between a move of 1 degree (lower is faster)
 */
void goToAngle(byte pitchAngle, byte rollAngle, int speed);

/*
 * @parameters
 * bool isPLL -> true if gimbal needs to be parallel to the ground, false if it
 *               needs to be perpendicular
 * int xAdj -> pass a positive or negative value to adjust the left-right axis of the gimbal
 *             (modifies servo2)
 * int yAdj -> pass a positive or negative value to adjust the forward-backward axis of the gimbal
 *             (modifies pitch)
 */
void mntn(bool isPLL, byte rAdj, byte pAdj);

void setup() {

  //assigns analog pin 0 to output
  pinMode(A0,OUTPUT);
  pinMode(A2, OUTPUT);
  pitch.attach(A0); //attaches pitch to analog 0
  roll.attach(A2);

{
  byte currentPAngle = pitch.read();
  byte currentRAngle = roll.read();
  if (pitchAngle > currentPAngle)
  {
    for (int i = currentPAngle; i < pitchAngle; i++)
    {
