   return OK;
 }
 
-void noClear() { //prints blanks to the screen, looks way better that using slcd.clear().
-  slcd.setCursor(0,0);
-  slcd.print("                ");
-  slcd.setCursor(0,1);
-  slcd.print("                ");
+void noClear() { //prints blanks to the screen, looks way better that using lcd.clear().
+  lcd.setCursor(0,0);
+  lcd.print("                ");
+  lcd.setCursor(0,1);
+  lcd.print("                ");
 }
 
 void noClearBottom() { //does the same as noClear but only clears the bottom row.
-  slcd.setCursor(0,1);
-  slcd.print("                ");
+  lcd.setCursor(0,1);
+  lcd.print("                ");
 }
 
 void lcdPrintDouble( double val, byte precision, int row, int col){ // example: printDouble( 3.1415, 2, 0, 1); // prints 3.14 (two decimal places)
   // prints val on a ver 0012 text lcd with number of decimal places determine by precision
   // precision is a number from 0 to 6 indicating the desired decimial places
   // example: printDouble( 3.1415, 2); // prints 3.14 (two decimal places)
-  slcd.setCursor(row,col);
+  lcd.setCursor(row,col);
 
   if(val < 0.0){
-    slcd.print('-');
+    lcd.print('-');
     val = -val;
   }
 
-  slcd.print (val,DEC);  //prints the int part
+  lcd.print (val,DEC);  //prints the int part
   if( precision > 0) {
-    slcd.print("."); // print the decimal point
+    lcd.print("."); // print the decimal point
     unsigned long frac;
     unsigned long mult = 1;
     byte padding = precision -1;

    while( frac1 /= 10 )
      padding--;
    while(  padding--)
      slcd.print("0");
    slcd.print(frac,DEC) ;
  }
}

void rightLimitHandler() {
  // placeholder
}

void leftlimit() {
  //placeholder
}
    break;
  }

  if (right_Rb.isHit()) {
    targetSteps = targetSteps + stepMultiplier;
    refreshScreen =1;
  }
  else if (left_Rb.isHit()) {
    targetSteps = targetSteps - stepMultiplier;
    refreshScreen = 1;
  }

  if (refreshScreen == 1 && !left_Rb.isHit() && !right_Rb.isHit()) {
    noClearBottom();
    refreshScreen = 0;
  }
  lcd.setCursor(0,0);
  lcd.print("Setup");

    if (stepIncrements == 0){
    lcd.setCursor(7,0);
    lcd.print("Incr. x 1");
    }
      if (stepIncrements == 1){
      lcd.setCursor(7,0);
      lcd.print("Incr. x 10");
      }
        if (stepIncrements == 2){
        lcd.setCursor(7,0);
        lcd.print("Incr. x 100");
        }

  lcd.setCursor(0, 2);
  lcd.print("Steps ");

  lcd.setCursor(8, 2);
  lcd.print("Inches ");
  lcd.setCursor(1, 3);
  lcd.print(targetSteps, DEC); 
  lcd.setCursor(9,3);
  lcd.print(targetInches,4);  
}

void jogMenuMode() { //This is the controller for jog mode
  lcd.setCursor(0, 0);
  lcd.print("Jog mode | steps");
  jogMenuControl();
}

void slewMenuMode() { //this is the slewing controller
  if (lcdRefreshOK()) {
    noClear;
  }
  lcd.setCursor(0, 2);
  lcd.print("Slew Mode        ");
  lcd.setCursor(12, 1);
  lcd.print(menuMode, DEC); 
  lcd.setCursor(1, 1);
  lcd.print(targetSteps, DEC);
}

//*************************************** LCD HANDLERS **********************************

boolean lcdRefreshOK() { //Refresh the lcd screen, this is a better way, calls noClear()
  boolean OK = false;
