 const int MAX = 180;
 
 //PD control loop Constants
-const double GAS_P_CONSTANT = 0.1;
-const double GAS_D_CONSTANT = 0.3;
-const double BRAKE_P_CONSTANT = 0.1;
-const double BRAKE_D_CONSTANT = 0.3;
+const double GAS_P_CONSTANT = 0.3;
+const double GAS_D_CONSTANT = 0.6;
+const double BRAKE_P_CONSTANT = 0.3;
+const double BRAKE_D_CONSTANT = 0.6;
 
 //Measured potentiometer constants
-const int gasPotentiometerStartValue = 0;
+const int gasPotentiometerStartValue = 40;
 const int gasPotentiometerStopValue = 400;
 const int brakePotentiometerStartValue = 0;
 const int brakePotentiometerStopValue = 600;

    //Check to see if all input has been received
    if(input[0] == INPUT_BEGIN_CHAR && input[3] == INPUT_END_CHAR){
        int a = (int) input[2]; //Convert the data from a char to an int
        int id = (int) input[1];
        double percent = a / 127.0; //Convert it to a percent by dividing by 128
        motor(id, percent);
        //Reset all values to their original state
        inputIndex = 0;
        input[0] = '\x00';

        input[1] = '\x00';
        input[2] = '\x00';
        input[3] = '\x00';
        //brake(); //TODO: Activate Brakes
    }
}

