   // 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);
+  leftMotor.writeMicroseconds(NEUTRAL_FREQUENCY);
+  rightMotor.writeMicroseconds(NEUTRAL_FREQUENCY);
   
   // Initialize the I2C Connections and specify the event listener I2CReceive
   Wire.begin(I2C_ADDRESS);

#define TIMEOUT 1000
#endif

const int TALON_LEFT = 12, TALON_RIGHT = 13, MIN_FREQUENCY = 1002, MAX_FREQUENCY = 2041;
unsigned long timeLastPacket;

Servo leftMotor, rightMotor;

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