     
     panServo.write(targetPanServoDegrees);
 
-    const int targetTiltDegrees = centerY - sqrt(pow(radiusY, 2) * (1.0 - pow(targetDegrees - centerX, 2) / pow(radiusX, 2)));
+    const int targetTiltDegrees = centerY + directionSign * sqrt(pow(radiusY, 2) * (1.0 - pow(targetDegrees - centerX, 2) / pow(radiusX, 2)));
     const int targetTiltServoDegrees = convertNormalizedAngleToServoAngle(targetTiltDegrees);
     tiltServo.write(targetTiltServoDegrees);
 

    
    panServo.write(targetPanServoDegrees);

    const int targetTiltDegrees = centerY + sqrt(pow(radiusY, 2) * (1.0 - pow(targetDegrees - centerX, 2) / pow(radiusX, 2)));
    const int targetTiltServoDegrees = convertNormalizedAngleToServoAngle(targetTiltDegrees);
    tiltServo.write(targetTiltServoDegrees);



//    performRangeTest();

//    drawCircle(0, 0, numberOfUsableDegrees / 2, 15, CLOCKWISE);

    drawEllipse(0, 0, USABLE_DEGREES / 4, USABLE_DEGREES / 4, 3, CLOCKWISE);

    disableLaser();
  }
