   delay(100);
 }
 
+//This method launches the vehicle off the start line!
 void launch(){
+  Serial.println("Vector79: launching (wish me luck)...");
   set_throttle_position(0);
   delay(100);
   set_throttle_position(-50);

/*
 * Be sure to first calibrate the ESC
 */
#include <Servo.h>

Servo steering_servo;
Servo throttle_servo;


void set_steer_angle(int angle){
  int map_angle = map(angle, -90, 90, 0, 180);
  steering_servo.write(map_angle);
}

void set_throttle_position(int sp){
  //Add 1 to the position so that zero is actually 1. This seems to keep the ESC alive.
  if(sp==0){
    sp = 0;
  }
  
  int map_throttle = map(sp, -100, 100, 1000, 2000);
  throttle_servo.writeMicroseconds(map_throttle);
}


void reverse(int sp){
  set_throttle_position(-100);
  delay(3000);

}


//Sweeps the steering servo
void sweep(){
  set_steer_angle(0);
  delay(100);
  //sweep steering
  for(int i=-45;i<45;i++){
    set_steer_angle(i);
    delay(10);
  }
  for(int i=45;i>=-45;i--){
    set_steer_angle(i);
    delay(10);
  }
