     // do something with the command, what command is it?
     if (cmd.cmp("tilt")) {
       cmd.parse(array);
-      int tilt_val = array[1];
-      tilt.write(tilt_val);
+      tilt_val = array[1];
+      //tilt.write(tilt_val);
     }
     else if (cmd.cmp("go")) {
       cmd.parse(array);
-      int p = array[1];
-      int v = array[2];
-      int s = array[3];
-      motors.go(p, v, s); 
+      p = array[1];
+      v = array[2];
+      s = array[3];
+      //motors.go(p, v, s); 
     }
     else if (cmd.cmp("light")) {
       cmd.parse(array);

    else {
      motors.stop(); 
    }
  }

  if (time.elapsed (100)) {

// the more the readings will be smoothed, but the slower the output will
// respond to the input.  Using a constant rather than a normal variable lets
// use this value to determine the size of the readings array.
const int numReadings = 100;

int readings[numReadings];      // the readings from the analog input
int index = 0;                  // the index of the current reading
int total = 0;                  // the running total
int average = 0;                // the average
int c_tilt = 90;
int c_motorp = 90;
int c_motors = 90;
int c_motorv = 90;
int tilt_val = 90;
int p = 90;
int v = 90;
int s = 90;

void setup(){

  delay(5000); //wait 5 seconds before starting to give time for programming pin sets

  Serial.begin(115200);

