     Serial.println(rightSpeed);
   } else {
     // Timeout handling (stop motors)
-    leftMotor.writeMicroseconds(1500);
-    rightMotor.writeMicroseconds(1500);
+    leftMotor.writeMicroseconds(NEUTRAL_FREQUENCY);
+    rightMotor.writeMicroseconds(NEUTRAL_FREQUENCY);
     if(!timedOut) {
       timedOut = true;
       Serial.println("TIMEOUT REACHED");

  // Attach the motors and set their starting speed to neutral/zero speed
  leftMotor.attach(TALON_LEFT);
  rightMotor.attach(TALON_RIGHT);
  leftMotor.writeMicroseconds(1500);
  rightMotor.writeMicroseconds(1500);
  
  // Initialize the I2C Connections and specify the event listener I2CReceive
  Wire.begin(I2C_ADDRESS);

#define TIMEOUT 1000
#endif

const int TALON_LEFT = 8, TALON_RIGHT = 9, MIN_FREQUENCY = 1001, NEUTRAL_FREQUENCY = 1500, MAX_FREQUENCY = 2041;
unsigned long timeLastPacket;

Servo leftMotor, rightMotor;
