   pinMode(MS3,OUTPUT);  
 
 
+  if (verbose){
+    Serial.print("Setting up pins for axes: ");
+  }
   //Set up motor control pins, LED pins, etc, as output lines
   for (byte ii=0; ii<numAxes; ii++){
     if (!axisPresent[ii]) //Skip axes that aren't present 

    }


     //Pre-calculate the speeds for different hat-stick values. This moves these
     //calculations out of the main loop, and allows for smoother closed-loop hat-stick motions.
     for (byte ii=0; ii<128; ii++){
       for (byte jj=0; jj<4; jj++){         
          //SPEEDMAT[ii][jj]=(ii/127.5)*maxSpeed[jj]; //Plain linear
          SPEEDMAT[ii][jj]=fscale(hatStickThresh, 127.5, 0.04, maxSpeed[jj], ii, curve[jj]); //non-linear mapping
       }  
     }

  #endif
  

  //Display boot message on LCD screen  
  #ifdef DO_LCD

   lcd.clear();
  #endif



  // Connect to the USB Shield
  #ifdef DO_GAMEPAD
    if (verbose){
      Serial.print("USB shield connecting...");
     }
    if (Usb.Init() == -1) {
      if (verbose){
        Serial.print(F("\r\nConnection to USB shield failed"));
      }
    
      //halt and flash warning
      #ifdef DO_LCD
