           tilt = (tilt>TILT_MAX)?TILT_MAX:tilt;
           tilt = (tilt<TILT_MIN)?TILT_MIN:tilt;
           SetPosition(TILT,tilt);
+          Serial.print("tilt: ");
+          Serial.println( tilt );
       }
   }
 }
-  
-  
+

          pan /= 'z' - 'a';
          pan = (pan>1023)?1023:pan;
          SetPosition(PAN,pan);
      }

      if ( inByte >= '1' && inByte <= '9' ) {

    turret.interpolateStep();
    delay(3);
  }
  Wire.begin(17); // join i2cbus with SDA on digital pin 17
  Wire.onReceive(receiveEvent);
}

void loop() {
    delay( 100 );
}

// 1-9 map to tilt
// a-z map to pan
// esc to quit

void receiveEvent(int howMany) {
  while( Wire.available() ) {
     unsigned char inByte = Wire.read();
     
      if ( inByte >= 'a' && inByte <= 'z' ) {
          int pan = inByte - 'a';
