 void stopMotors()
 {
   if (useSerial){
-    Serial.println("stopMotors");
+    //Serial.println("stopMotors");
   }
   ST.drive(0);
 }

      delay(10);  
    }
  }
  lastLoopUsefulTime = millis()-loopStartTime;
  if(lastLoopUsefulTime<STD_LOOP_TIME)         delay(STD_LOOP_TIME-lastLoopUsefulTime);
  lastLoopTime = millis() - loopStartTime;

    }
    pitchPid.loop(dt, -positionOutput, -currentPitch);
    if (useSerial){
      //Serial.println(pitchPid.output());
      //Serial.print(leftCounter);
      //Serial.print(" | ");
      //Serial.println(rightCounter);
