 
 void setup() { //int yer inpins
 
-  pinMode(inPin1, INPUT); 
-  pinMode(inPin2, INPUT);
-  pinMode(inPin3, INPUT);
-  pinMode(inPin4, INPUT);
-  pinMode(inPin5, INPUT);
-  pinMode(inPin6, INPUT);
-  
-  Serial.begin(9600);
-  slcd.begin();
-  slcd.backlight();
+  pinMode(rightRed, INPUT); 
+  pinMode(leftRed, INPUT);
+  pinMode(greenMenu, INPUT);
+  pinMode(yellowEnter, INPUT);
+  pinMode(leftLimit, INPUT);
+  pinMode(rightLimit, INPUT);
+
+  pinMode(pwmPin, OUTPUT);
+  pinMode(CWpin, OUTPUT);
+  pinMode(CCWpin, OUTPUT);
+
+  lcd.begin(20,4);
+  lcd.setBacklight(HIGH);
 }
 
 void loop() { //high speed code goes here

  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 noClearBottom() { //does the same as noClear but only clears the bottom row.
  slcd.setCursor(0,1);
  slcd.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);

  if(val < 0.0){
    slcd.print('-');
    val = -val;
  }

  slcd.print (val,DEC);  //prints the int part
  if( precision > 0) {
    slcd.print("."); // print the decimal point
    unsigned long frac;
    unsigned long mult = 1;
    byte padding = precision -1;

}

void mainMenu() { //this is the overall menu controller

  if (green.isHit()){
    noClear();
    menuMode++;
    delay(50);
