     Serial.print(",");
     Serial.print(new_v);
     Serial.print(",");
-    Serial.print(new_c);
+    Serial.print(new_s);
     Serial.print(";");
     Serial.print("mtarg:");
     Serial.print(p);

    if (p>new_p) new_p += min(smoothingIncriment,p-new_p);
    if (v<new_v) new_v -= min(smoothingIncriment,new_v-v);
    if (v>new_v) new_v += min(smoothingIncriment,v-new_v);
    if (s<new_c) new_c -= min(smoothingIncriment,new_c-s);
    if (s>new_c) new_c += min(smoothingIncriment,s-new_c);
    if (tilt_val<new_tilt) new_tilt -= min(smoothingIncriment,new_tilt-tilt_val);
    if (tilt_val>new_tilt) new_tilt += min(smoothingIncriment,tilt_val-new_tilt);
    tilt.writeMicroseconds(new_tilt);
    motors.go(new_p, new_v, new_c);
  }

  if (time.elapsed (100)) {

int average = 0;                // the average
int new_tilt = MIDPOINT;
int new_p = MIDPOINT;
int new_s = MIDPOINT;
int new_v = MIDPOINT;
int tilt_val = MIDPOINT;
int p = MIDPOINT;
