 
 /* steering deg [-20,...,20] */
 int steering = 0;
-/* throttle pct [0,...,100] */
+/* throttle pct [-100,...,100] */
 int velocity = 0;
 
 int count = 0; //Variable to check for Failsafe

#define SERVO_40_DEG_L      850
#define SERVO_40_DEG_R      2150

#define MOTOR_NEUTRAL       1520 // TODO: verify value, may vary depending on ESC calibration
#define MOTOR_BRAKE_MAX     650
#define MOTOR_THROTTLE_MAX  2000

#define SERVO 0
#define MOTOR 1

        else if (c == divider) {  // End of String
            switch (mode) {
                case SERVO: steering = data.toInt();
                case MOTOR: velocity = data.toInt();  // TODO: verify that negative values are parsed correctly (for reverse)
            }
            return;
        } else {
