   //compiled into the ROM
   //Serial.println("Installed devices: DMOC645");
 
-  Serial.print("System Ready ");
+  SerialUSB.print("System Ready ");
   printMenu();
 
 }
 
 void printMenu() {
-  Serial.println("System Menu:");
-  Serial.println("D = disabled op state");
-  Serial.println("S = standby op state");
-  Serial.println("E = enabled op state");
-  Serial.println("n = neutral gear");
-  Serial.println("d = DRIVE gear");
-  Serial.println("r = reverse gear");
-  Serial.println("<space> = start/stop ramp test");
-  Serial.println("x = lock ramp at current value (toggle)");
-  Serial.println("t = Use accelerator pedal? (toggle)");
-  Serial.println("L = output raw input values (toggle)");
-  Serial.println("K = set all outputs high");
-  Serial.println("J = set all outputs low");
-  Serial.println("Y,U,I = test EEPROM routines");
-  Serial.println("");
+  SerialUSB.println("System Menu:");
+  SerialUSB.println("D = disabled op state");
+  SerialUSB.println("S = standby op state");
+  SerialUSB.println("E = enabled op state");
+  SerialUSB.println("n = neutral gear");
+  SerialUSB.println("d = DRIVE gear");
+  SerialUSB.println("r = reverse gear");
+  SerialUSB.println("<space> = start/stop ramp test");
+  SerialUSB.println("x = lock ramp at current value (toggle)");
+  SerialUSB.println("t = Use accelerator pedal? (toggle)");
+  SerialUSB.println("L = output raw input values (toggle)");
+  SerialUSB.println("K = set all outputs high");
+  SerialUSB.println("J = set all outputs low");
+  SerialUSB.println("Y,U,I = test EEPROM routines");
+  SerialUSB.println("");
 }
 
 

  for(uint8_t count = 0; count < 5; count++) {
    CAN.mailbox_init(count);
    CAN.mailbox_set_mode(count, CAN_MB_RX_MODE);
    CAN.mailbox_set_accept_mask(count, 0x7F0, false);
  }
  //First three mailboxes listen for 0x23x frames, last two listen for 0x65x frames
  CAN.mailbox_set_id(0, 0x230, false); CAN.mailbox_set_id(1, 0x230, false); CAN.mailbox_set_id(2, 0x230, false);

void serialEvent() {
  int incoming;
  DMOC* dmoc = (DMOC*)motorcontroller;
  incoming = SerialUSB.read();
  if (incoming == -1) return;
  switch (incoming) {
    case 'h':
