 #define MOTOR_FORWARD_TURN          33
 #define MOTOR_REVERSE_FULL          44
 #define MOTOR_REVERSE_TURN          55
-#define MOTOR_RAMP_STEP             5
+#define MOTOR_RAMP_STEP             25
+#define MOTOR_RAMP_THHRESHOLD       50
 
 #define BUTTON_MASK                 0x10
 #define JOYSTICK_MASK               0x0F

#define XBEE_COMMAND_TURN_RIGHT     2

#define FULL_SPEED                  255
#define TURN_SPEED                  50

#define LEFT_MOTORS                 0
#define RIGHT_MOTORS                1

    // read motor states and drive motors    
    for(i = 0; i < 2; i++)
    {
      if (abs(motor_drive_present[i] - motor_drive_target[i]) < MOTOR_RAMP_THHRESHOLD)
      {
        // if close to target, set to target
        motor_drive_present[i] = motor_drive_target[i];
