  * e.g. [-100, 100]
  */
 double pollProximity(){
-  return map(vcnl.readProximity(), HIGH_PROX_VAL, LOW_PROX_VAL, -FIDELITY, FIDELITY);
+  return map(vcnl.readProximity(), HIGH_PROX_VAL, LOW_PROX_VAL, FIDELITY, -FIDELITY) + (FIDELITY / 2.0);
 }
 
 /*

    while(1);  
  }
  Serial.println("############## SENSOR CALIBRATION ###############");
  // setupProximitySensor(HIGH_PROX_VAL, LOW_PROX_VAL);
  Serial.println("############ DONE SENSOR CALIBRATION ############");

  // Set up the fets and set them both low.
  pinMode(FET_ONE, OUTPUT);

  Serial.print("I'll use the high value: "); Serial.println(high_val);
  Serial.print("and the low value: ");       Serial.println(low_val);
}

void setupPID(){
  //initialize the variables we're linked to
  Setpoint = 0;

  //tell the PID to range between 0 and the full window size
  pid.SetOutputLimits(0, 1);

  //turn the PID on
  pid.SetMode(AUTOMATIC);  
}
