 //controls the acceleration/deccelration of the robot. -100 is full break to 100 full gas
 void set_throttle_position(int sp){
   int map_throttle = map(sp, -100, 100, 1000, 2000);
+  //set minimum is 1400 for reverse and 1550 for slow forward
+  if (map_throttle < 1400){
+    map_throttle = 1400;
+  }
+  if(map_throttle > 1550){
+    map_throttle = 1550;
+  }
   throttle_servo.writeMicroseconds(map_throttle);
 }
 

        }
        toggle_LED(LED_GREEN, true);

          //WARNING: Uncommenting this will lanuch the robot
        launch();
        //WHOAH stop this bad boy (NOTICE, setting the throttle position to -100 is full breaks, 
        //to go in reverse, use the reverse method
        set_throttle_position(-100);
        delay(3000);
        set_throttle_position(20);
      }
  }//end while init transmitter


  while (!TX_found){
      //read in the from the controller
      throttle_input = pulseIn(THROTTLE_IN, HIGH, 25000);
      //Serial.println(throttle_input);

      //toggle red led while waiting to arm
      toggle_LED(LED_RED, true);
