 #define TIMEOUT 1000
 #endif
 
-const int TALON_LEFT = 12, TALON_RIGHT = 13, MIN_FREQUENCY = 1002, MAX_FREQUENCY = 2041;
+const int TALON_LEFT = 8, TALON_RIGHT = 9, MIN_FREQUENCY = 1001, NEUTRAL_FREQUENCY = 1500, MAX_FREQUENCY = 2041;
 unsigned long timeLastPacket;
 
 Servo leftMotor, rightMotor;

  // Attach the motors and set their starting speed to neutral/zero speed
  leftMotor.attach(TALON_LEFT);
  rightMotor.attach(TALON_RIGHT);
  leftMotor.writeMicroseconds(1500);
  rightMotor.writeMicroseconds(1500);
  
  // Initialize the I2C Connections and specify the event listener I2CReceive
  Wire.begin(I2C_ADDRESS);

    Serial.println(rightSpeed);
  } else {
    // Timeout handling (stop motors)
    leftMotor.writeMicroseconds(NEUTRAL_FREQUENCY);
    rightMotor.writeMicroseconds(NEUTRAL_FREQUENCY);
    if(!timedOut) {
      timedOut = true;
      Serial.println("TIMEOUT REACHED");
