   // turn hp light on & off with Left Analog Stick Press (L3)
   if(Xbox.getButtonClick(L3, 0))  {
     // if hp light is on, turn it off
-    if(domeData.hpl == 1){
-      domeData.hpl = 0;
+    if(isHPOn){
+      isHPOn = false;
       // turn hp light off
       // Front HPEvent 2 - ledOFF - I2C
       triggerI2C(25, 2);
     } else {
-      domeData.hpl = 1;
+      isHPOn = true;
       // turn hp light on
       // Front HPEvent 4 - whiteOn - I2C
       triggerI2C(25, 1);

//************************** Set speed and turn speeds here************************************//

//set these 3 to whatever speeds work for you. 0-stop, 127-full speed.
byte drivespeed1 = 50;
//Recommend beginner: 50 to 75, experienced: 100 to 127, I like 100.
byte drivespeed2 = 100;
//Set to 0 if you only want 2 speeds.
byte drivespeed3 = 127;

byte drivespeed = drivespeed1;

// the higher this number the faster the droid will spin in place, lower - easier to control.
// Recommend beginner: 40 to 50, experienced: 50 $ up, I like 70
byte turnspeed = 70;
// If using a speed controller for the dome, sets the top speed. You'll want to vary it potenitally
// depending on your motor. My Pittman is really fast so I dial this down a ways from top speed.
// Use a number up to 127 for serial
byte domespeed = 80;

// Ramping- the lower this number the longer R2 will take to speedup or slow down,
// change this by incriments of 1
byte ramping = 5;

// Compensation is for deadband/deadzone checking. There's a little play in the neutral zone
// which gets a reading of a value of something other than 0 when you're not moving the stick.

  // Sabertooth runs at 8 bit signed. -127 to 127 for speed (full speed reverse and  full speed forward)
  // Map the 360 stick values to our min/max current drive speed
  sticknum = (map(Xbox.getAnalogHat(RightHatY, 0), -32768, 32767, -drivespeed, drivespeed));
  if(sticknum > -DRIVEDEADZONERANGE && sticknum < DRIVEDEADZONERANGE){
    // stick is in dead zone - don't drive
    driveThrottle = 0;
  } else {
    if(driveThrottle < sticknum){
      if(sticknum - driveThrottle < (RAMPING+1) ){
        driveThrottle+=RAMPING;
      } else {
        driveThrottle = sticknum;
      }
    } else if(driveThrottle > sticknum){
      if(driveThrottle - sticknum < (RAMPING+1) ){
        driveThrottle-=RAMPING;
      } else {
        driveThrottle = sticknum;
      }
