 //Y Position: lower numbers == Up
 
 panTiltPos_t panTiltX(0, 55, 125, -20);
-panTiltPos_t panTiltY(0, 10, 45, 0, 5);
+panTiltPos_t panTiltY(0, 10, 45, 0, 10);
 
 
 PanTilt panTilt(9, &panTiltX, 10, &panTiltY, 98);

  }

  else if(oldSpeed == midVal){
    if(probability < 40){
      return hiVal;
    }
    else if(probability < 90){
      return midVal;
    }
    else{

  }

  else if(oldSpeed == hiVal){
    if(probability < 60){
      return midVal;
    }
    else{
