     if (s>c_motors) c_motors += min(aggro,s-c_motors);
     if (tilt_val<c_tilt) c_tilt -= min(aggro,c_tilt-tilt_val);
     if (tilt_val>c_tilt) c_tilt += min(aggro,tilt_val-c_tilt);
-    tilt.writeMicroseconds(tilt_val);
+    tilt.writeMicroseconds(c_tilt);
     motors.go(c_motorp, c_motorv, c_motors);
   }
 

    Serial.print(",");
    Serial.print(s);
    Serial.print(";");
    Serial.print("time:");
    Serial.println(millis());
  }

#include "Device.h"
#include "Timer.h"
#include "FreeMem.h"


Motors motors(9, 10, 11);
Command cmd;
