if res == 'i':
quadcopter.motor_init()
if res == 'a':
quadcopter.inc_height(5)
if res == 'z':
quadcopter.dec_height(5)
if res == 'b':
quadcopter.balancer()
if res == 'r':
quadcopter.set_zero_angle()
if res == 'x':
quadcopter.set_height()
quadcopter.stop()
if res == 'p':
p = raw_input()
i = raw_input()
d = raw_input()
quadcopter.set_PID(p, i, d)
if res == 's':
quadcopter.stop()
cycling = False
finally:
# shut down cleanly
mymotor1.stop()
mymotor2.stop()
mymotor3.stop()
mymotor4.stop()
print ("well done!")
quadcopter.stop()
