     }
   }
 
-  if(rollAngle > currentRAngle)
+  if (rollAngle > currentRAngle)
   {
     for (int i = currentRAngle; i < rollAngle; i++)
     {

/*
 * @author: jstuder
 * 
 */
#include <Servo.h>

//the servo to counter the pitch of the drone
Servo pitch, roll;
const int PARALLEL = 50; //45 allows for 30 degrees of + and - with ease
const int PERPENDICULAR = PARALLEL + 90; 

//A constant to control the speed of angle change, lower is faster
const int SPEED = 10;

/*
 * @parameters
 *  byte angle -> the angle you want to go to
 *  int speed -> the delay between a move of 1 degree (lower is faster)
 */
void goToAngle(byte pitchAngle, byte rollAngle, int speed);

/*
 * @parameters
 * bool isPLL -> true if gimbal needs to be parallel to the ground, false if it
 *               needs to be perpendicular
 * int xAdj -> pass a positive or negative value to adjust the left-right axis of the gimbal
 *             (modifies servo2)
 * int yAdj -> pass a positive or negative value to adjust the forward-backward axis of the gimbal
 *             (modifies pitch)
 */
void mntn(bool isPLL, byte rAdj, byte pAdj);

void setup() {

  //assigns analog pin 0 to output
  pinMode(A0,OUTPUT);
  pinMode(A2, OUTPUT);
  pitch.attach(A0); //attaches pitch to analog 0
  roll.attach(A2);

  goToAngle(50, 40, SPEED); //sets the gimbal to parallel as default

  //enables serial
  //SoftwareSerial upBoard (rxPin, txPin);
  upBoard.begin(115200);
  Serial.begin(115200);
  Serial.println("Ready");
   
  upBoard.println("hello??");
  
}

void loop()
{
 
  //used to track parallel or perpendicular
  static boolean isParallel = true;
  if (upBoard.available())
  {
    //reads as a string to allow for 'change' to be a condition
    String in;
    int i = 0;
    in = upBoard.readString();
    Serial.println(in);
    char inC[in.length()];
    in.toCharArray(inC, in.length());

    //allows yChange to default to the previous value. If input is invalid the gimbal doesn't move.
    byte pChange = pitch.read();
    byte rChange = roll.read();
