 int v = MIDPOINT;
 int s = MIDPOINT;
 int smoothingIncriment = 5; //How aggressive the throttle changes
+int deadZone_min = MIDPOINT;
+int deadZone_max = MIDPOINT;
 void setup(){
 
   Serial.begin(115200);

      Serial.print("*settings:");
      Serial.print("smoothingIncriment|");
      Serial.print(String(smoothingIncriment) + ";");
    }
    else {
      motors.stop(); 

  // the way to the target this time.
  double x = target - current;
  int sign = (x>0) - (x<0);
  int adjustedVal = current + sign * (min(abs(target - current), smoothingIncriment));
  // skip the deadzone
  if (sign<0) {
    return (min(adjustedVal,deadZone_min));
  } else if(sign>0){ 
    return (max(adjustedVal,deadZone_max));
  } else
    return (adjustedVal);
}

void loop(){
