 
 
 void oscGo(OscMessage &m) {
-  // /go/nwPos,nePos,sePos,swPos long ints
+  // /go/motor0pos,motor1pos,motor2pos,motor3pos long ints
   if (state != OK) return; 
   
   double value = m.getFloat(MOTOR_ID);
   pidSetpoint = value;
-}
+  pidSetMaxSpeed(MAX_SPEED);
+}
+
+
+void oscGo2(OscMessage &m) {
+  if (state != OK) return;
+  
+  double pos = m.getFloat(MOTOR_ID*2);
+  double spd = m.getFloat(MOTOR_ID*2+1);
+  pidSetpoint = pos;
+  pidSetMaxSpeed(spd);
+}
+
+
 
 void oscHome(OscMessage &m) {
   int motor = m.getInt(0);


void oscEvent(OscMessage &m) { 
  m.plug("/go", oscGo); 
  m.plug("/home", oscHome);
  m.plug("/maxspeed", oscSetMaxSpeed); 
  m.plug("/maxaccel", oscSetMaxAccel);

void oscSetMaxSpeed(OscMessage &m) {
  int motor = m.getInt(0);
  if (motor==MOTOR_ID) {
    MAX_SPEED = m.getFloat(1);
    pidSetMaxSpeed(MAX_SPEED);
  }
}

