 #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_NEUTRAL       1450
 #define MOTOR_BRAKE_MAX     650
 #define MOTOR_THROTTLE_MAX  2000
+#define MOTOR_FORWARD_MAX   2000  // [1550-2000]
+#define MOTOR_REVERSE_MAX   1000  // [1300-1000]
 
 #define SERVO 0
 #define MOTOR 1


/* steering deg [-20,...,20] */
int steering = 0;
/* throttle pct [0,...,100] */
int velocity = 0;

int count = 0; //Variable to check for Failsafe

        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 {
