         xpos = 0;
         ypos = 0;
     }
+
+    UART_string((char*)"setJoy(");
+    UART_signed(xpos,10);
+    UART_string((char*)",");
+    UART_signed(ypos,10);
+    UART_string((char*)")");
+    UART_crlf();
+
     // -xpos is left, +xpos is right
     state.joyx = JOY_STOP + xpos;
     // flip sign of fwd/bkw signal

    //
    // set angle / push to 0's initially
    setAnglePush(0, 0);
}

// Interrupt ticks at 1024Hz


    // initial state setup
    initDefaultState();

    // initial start delay
    delay(3000);
}

void loop()
{
    setDrivemode(DRIVEMODE_ONE);
    setJoy(0,0);
    while (1) {
    }
}
