 
 
   //Set the servo output.  Use a switch statement to use the correct servo object.
-  if (angle<angleLowest || angle>angleHighest) {
-    //The angle is invalid! Don't move the shooter
-    Serial.print("Invalid angle: ");
-    Serial.println(angle);
-  }
-  else{
+
     //Apply the angle offset
-    angle += offset[shooterNum];
+    int out = angle + offset[shooterNum];
     switch (shooterNum) {
     case 1:
-      servo1.write(angle);
+      servo1.write(out);
       break;
     case 2:
-      servo2.write(angle);
+      servo2.write(out);
       break;
     case 3:
-      servo1.write(angle);
+      servo3.write(out);
       break;
     default:
 
       Serial.print("Unrecognized shooter Num: ");
       Serial.println(shooterNum);
-    }
   }
 }
 



  //Attach the servo objects
  servo1.attach(pinServo1,545,2455); //Include the maximum and minimum pulse widths.
  servo2.attach(pinServo2,545,2455);
  servo3.attach(pinServo3,545,2455);



#define commsTimeout 200 //The maximum time that a received serial command can take, in mS

#define ballReleaseTime 20 //The time that the solenoid needs to be activated for to release a ball, in mS

#define motorLevel1 255 //PWM levls for the motors
#define motorLevel2 255
