diff --git a/src/main.rs b/src/main.rs
index 845340a4349405197cedbde96bd5dd98eb46fab8..b5d6d463f63dd266d35eb725e77723a93cfba681 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -11,10 +11,10 @@ use std::net::TcpListener;
 extern crate serial;
 use std::io;
 use std::time::Duration;
-use std::io::prelude::*;
+//use std::io::prelude::*;
 use serial::prelude::*;
 
-use std::str;
+//use std::str;
 
 // should the map matrix be two dim array of const size, vecs of dynamic, or what?
 
@@ -34,7 +34,7 @@ fn main() {
                 thread::sleep(time::Duration::new(1,0));
                 loop {
                     match stream.read_exact(&mut message) {
-                        Ok(msg) => {println!("server got: {} {}", message[0], message[1]);
+                        Ok(_) => {println!("server got: {} {}", message[0], message[1]);
                         let written_size = stream.write(&[69 as u8, 96 as u8]);
                         println!("server wrote {:?} to stream.", written_size);
                         },
@@ -59,25 +59,21 @@ fn main() {
     let tracker = thread::spawn(move || {
         println!("Tracker started.");
         
-        let mut serialBuf: [u8; 8] = [0; 8];
+        let mut serial_buf: [u8; 8] = [0; 8];
         let device = String::from("/dev/cu.usbmodem41");
         let mut port = serial::open(&device).unwrap();
         interact(&mut port).unwrap();
 
-        let mut L: i32 = 0;
-        let mut R: i32 = 0;
         
         let mut pos: (i32, i32) = (0,0);
         loop {
             // get encoder data from arduino and update local variables
-            match port.read_exact(&mut serialBuf){
+            match port.read_exact(&mut serial_buf){
                 Ok(_) => {
-                    L = freq_to_distance( ( ((serialBuf[0] as u32) << 24) + ((serialBuf[1] as u32) << 16) + ((serialBuf[2] as u32) << 8) + (serialBuf[3] as u32) ) as i32);
-                    R = freq_to_distance( ( ((serialBuf[4] as u32) << 24) + ((serialBuf[5] as u32) << 16) + ((serialBuf[6] as u32) << 8) + (serialBuf[7] as u32) ) as i32);
-                    print!("L: {}, ", L);
-                    println!("R: {}", R);
-                    pos.0 += L;
-                    pos.1 += R;
+                    pos.0 = freq_to_distance( ( ((serial_buf[0] as u32) << 24) + ((serial_buf[1] as u32) << 16) + ((serial_buf[2] as u32) << 8) + (serial_buf[3] as u32) ) as i32);
+                    pos.1 = freq_to_distance( ( ((serial_buf[4] as u32) << 24) + ((serial_buf[5] as u32) << 16) + ((serial_buf[6] as u32) << 8) + (serial_buf[7] as u32) ) as i32);
+                    print!("L: {}, ", pos.0);
+                    println!("R: {}", pos.1);
                     },
                 Err(e) => {
                     println!("Could not read all bytes: {:?}", e);
@@ -116,7 +112,7 @@ fn main() {
 
         // set up connection to lidar
         let mut stream = TcpStream::connect("127.0.0.1:8080").unwrap();
-        let mut lidarBuf: [u8; 2] = [0; 2];
+        let mut lidar_buf: [u8; 2] = [0; 2];
 
         // main loop for this thread
         loop {
@@ -133,9 +129,9 @@ fn main() {
             let stream_write_response = stream.write(&[65 as u8, 66 as u8]);
             println!("mapper wrote {:?} to stream.", stream_write_response);
 
-            match stream.read_exact(&mut lidarBuf){
+            match stream.read_exact(&mut lidar_buf){
                 Ok(_) => {
-                    println!("mapper got {}, {}, from lidar.", lidarBuf[0], lidarBuf[1]);
+                    println!("mapper got {}, {}, from lidar.", lidar_buf[0], lidar_buf[1]);
                     },
                 Err(e) => {
                     println!("Could not read all bytes: {:?}", e);
@@ -169,7 +165,6 @@ fn main() {
     // pathfinder, takes a map and returns a list of nodes to aim for when driving
     // This will be a function for mapper to call. 
 
-    //
 
 }