   SetPosition(PORT_SERVO, 90 * ANGLE_CONVERSION);
   SetPosition(STBD_SERVO, 90 * ANGLE_CONVERSION);
 
-  aft_thruster.attach(12);
-  port_thruster.attach(14);
-  stbd_thruster.attach(13);
+  aft_thruster.attach(AFT_THRUSTER);
+  port_thruster.attach(PORT_THRUSTER);
+  stbd_thruster.attach(STBD_THRUSTER);
 
-  aft_thruster.write(90);
-  port_thruster.write(90);
-  stbd_thruster.write(90);
+  aft_thruster.writeMicroseconds(ZERO_THRUST);
+  port_thruster.writeMicroseconds(ZERO_THRUST);
+  stbd_thruster.writeMicroseconds(ZERO_THRUST);
   
   pinMode(0, OUTPUT);
   digitalWrite(0, heartbeat);


const int PORT_SERVO = 18;
const int STBD_SERVO = 15;

const int PACKET_SIZE = 10;
byte packet[PACKET_SIZE];

const float POWER_CONVERSION = 9.0/127.0; // 90.0/127.0

Servo aft_thruster;
Servo port_thruster;

    SetPosition(PORT_SERVO, port_angle * ANGLE_CONVERSION);
    SetPosition(STBD_SERVO, stbd_angle * ANGLE_CONVERSION);

    aft_thruster.writeMicroseconds(aft_power);
    port_thruster.writeMicroseconds(port_power);
    stbd_thruster.writeMicroseconds(stbd_power);
  }
}

