 
 void setup() {
   EEPROM_readAnything(0, xv_config);
-  if ( xv_config.id != EEPROM_ID) { // verify EEPROM values have been initialized
+  if( xv_config.id != EEPROM_ID) { // verify EEPROM values have been initialized
     initEEPROM();
   }
-<<<<<<< HEAD
-  pinMode(xv_config.motor_pwm_pin, OUTPUT);
-  Serial.begin(115200);                      // USB serial
-  Serial1.begin(115200);                     // XV LDS data
-
-  /*
-   *   Timer3.initialize(30)
-   *   sets PWM frequency to 32.768kHz for quite ultrasonic motor control
-   *   PWM duty cycle is 0-1023
-   */
-  Timer3.initialize(30);
-=======
   pinMode(xv_config.motor_pwm_pin, OUTPUT); 
   Serial.begin(115200);  // USB serial
   #if defined(__AVR_ATmega32U4__) && defined(CORE_TEENSY) // if Teensy 2.0

  sCmd.addCommand("SetKd",         setKd);
  sCmd.addCommand("SetSampleTime", setSampleTime);

  sCmd.addCommand("ShowRPM",   showRPM);
  sCmd.addCommand("HideRPM",   hideRPM);
  sCmd.addCommand("ShowDist",  showDist);
  sCmd.addCommand("HideDist",  hideDist);
<<<<<<< HEAD
  sCmd.addCommand("ShowAngle", showAngle);
  sCmd.addCommand("HideAngle", hideDist);
  sCmd.addCommand("MotorOff",  motorOff);
  sCmd.addCommand("MotorOn",   motorOn);
  sCmd.addCommand("HideRaw",   hideRaw);
  sCmd.addCommand("ShowRaw",   showRaw);
=======
  sCmd.addCommand("ShowAngle",  showAngle);
  sCmd.addCommand("MotorOff", motorOff);
  sCmd.addCommand("MotorOn",  motorOn);
  sCmd.addCommand("HideRaw", hideRaw);
  sCmd.addCommand("ShowRaw",  showRaw);
>>>>>>> 9423c3c07ba8665de06a1a0f3cdad7d726b30174
}

void showRPM() {


  case 3: // speed in RPH high byte
    motor_rph_high_byte = inByte;
    motor_rph = (motor_rph_high_byte << 8) | motor_rph_low_byte;
    motor_rpm = float( (motor_rph_high_byte << 8) | motor_rph_low_byte ) / 64.0;
    if (xv_config.show_rpm and angle == 0) {
      Serial.print(F("RPM: "));
      Serial.print(motor_rpm);
      Serial.print(F("  PWM: "));   
      Serial.println(pwm_val);
    }
    break;

  case 4:
