if (queueBLE.empty() == False):
    result = queueBLE.get(False)

    utils.processiBeaconList(result,currentiBeaconRSSI, currentiBeaconTimeStamp,rollingiBeaconRSSI)
    utils.clearOldValues(10,currentiBeaconRSSI, currentiBeaconTimeStamp,rollingiBeaconRSSI)

  # update position
  if (utils.haveThreeGoodBeacons(rollingiBeaconRSSI) >= 3):
    oldbeacons = beacons
    beacons = utils.get3ClosestBeacons(rollingiBeaconRSSI)
    if (cmp(oldbeacons, beacons) != 0):
      bubblelog.writeToBubbleLog("closebeacons:%i,%i,%i" % (beacons[0], beacons[1], beacons[2]))
    myPosition = utils.XgetXYFrom3Beacons(beacons[0],beacons[1],beacons[2], rollingiBeaconRSSI)

    # calculate jitter in position
    jitter = (((lastPosition[0] - myPosition[0])/lastPosition[0]) + ((lastPosition[1] - myPosition[1])/lastPosition[1]))/2.0
    jitter = jitter * 100.0   # to get to percent
    lastPosition = myPosition

    f = open("/home/pi/BeaconAir/state/distancejitter.txt", "w")

    f.write(str(jitter))
    f.close()

    lights.checkForLightTrigger(myPosition, LIGHT_DISTANCE_SENSITIVITY, LIGHT_BRIGHTNESS_SENSITIVITY, currentLightState)

    # build webpage
    webmap.buildWebMapToFile(myPosition, rollingiBeaconRSSI, currentLightState, DISPLAY_BEACON_ON, DISPLAY_LIGHTS_ON)

    # build beacon count graph
    iBeaconChart.iBeacondetect(rollingiBeaconRSSI)
  else:
    # lost position
    myPosition = [-myPosition[0], -myPosition[1]]

  # process commands from RasPiConnect
  processCommand()