 
     // Motor limits
     // TODO  fix limits?
-    const int MOTOR_MAX = 1900;
-    const int MOTOR_MIN = 1100;
+    const int MOTOR_MAX = 2000;
+    const int MOTOR_MIN = 800;
     const int MOTOR_NEUTRAL = 1500;
     const int THETA_CENTER = 1500;
     const int THETA_MAX = 1900;

    void incBL();
    void calcThrottle();
    void calcSteering();
    void killMotor();
  private:
    // Pin assignments

barc::ECU ecu;
barc::ECU rc_inputs;
barc::Encoder encoder;
barc::Encoder vel_est;

ros::NodeHandle nh;

ros::Publisher pub_encoder("encoder", &encoder);
ros::Publisher pub_vel_est("vel_est", &vel_est); 
ros::Publisher pub_rc_inputs("rc_inputs", &rc_inputs);
ros::Subscriber<barc::ECU> sub_ecu("ecu_pwm", ecuCallback);

