     interrupts();   // there is a safer way to do this by saving and restoring 
                     // settings register, but since I'm not using extensive 
                     // libraries should be OK
-    
-    wrist.writeMicroseconds(wristPulse);
+    wristAngle = map(wristPulse, 1000, 2000, minWristAngle, maxWristAngle);
+    wristAngle = constrain(wristAngle, maxWristAngle, minWristAngle); // want to lower when joystick forward, so map in reverse
+    wrist.write(wristAngle);
   }
   if (clawFlag){ 
     noInterrupts(); 

Extreme values outside range only occur with extremes of trim, which 
should be a rare outlier - will avoid the overhead of a constrain() operation


******************************************************************************/


unsigned long wristPulse = 0;
unsigned long clawPulse = 0;

int clawAngle = 85;       // init position
const int ClawRDZ = 1450; // threshold for closing claw - right limit of dead zone
const int ClawLDZ = 1550; // threshold for opening claw
const int minClawAngle = 5;      // limit travel to protect servo
const int maxClawAngle = 135;
int wristAngle = 85;
const int minWristAngle = 0;
const int maxWristAngle = 150; 

/********************
====== BODY =========
