 */
 #include <Servo.h>
 
-
-const int STEER_IN = 5;
-const int STEER_OUT = 9;
-const int STEER_BASE = 1277;
-const int STEER_MIN = 847;
-const int STEER_MAX = 1710;
-const float STEER_SENSITIVITY = 1.0;
-
-const int THROTTLE_IN = 6;
-const int THROTTLE_OUT = 11;
-const int THROTTLE_BASE = 1273;
-const int THROTTLE_MIN = 843;
-const int THROTTLE_MAX = 1710;
-const float THROTTLE_SENSITIVITY = 1.0;
-
-const int LED_GREEN = 4;
-const int LED_RED = 3;
-
-const int RPM_INTERRUPT = 0; //pin 2
+#define STEER_IN 5
+#define STEER_OUT 9
+#define STEER_BASE 1277
+#define STEER_MIN 847
+#define STEER_MAX 1710
+#define STEER_SENSITIVITY 1.2
+
+#define THROTTLE_IN 6
+#define THROTTLE_OUT 11
+#define THROTTLE_BASE 1273
+#define THROTTLE_MIN 843
+#define THROTTLE_MAX 1710
+#define THROTTLE_SENSITIVITY 3.0
+
+#define LED_GREEN 4
+#define LED_RED 3
+
+#define RPM_PIN 2
+#define RPM_INTERRUPT 0
+
+// left and right sonar trigger at the same time
+#define TRIGGER_PIN     7   
+#define ECHO_PIN_LEFT   8
+#define ECHO_PIN_RIGHT  12
 
 int _STEER_BIAS = 0; //set this to adjust steering
-int _GOVERNER = 1710; //cap the forward speed
+int _GOVERNER_F = 10; //cap the forward speed
+int _GOVERNER_R = -12;
 
 
 //servos

  Serial.begin(115200);
  Serial.println("V79: starting...");
  attachInterrupt(RPM_INTERRUPT, monitor_rpm, RISING);

  //set up red/green led indicators
  pinMode(LED_GREEN, OUTPUT);

        _STEER_BIAS = command.toInt();
      }

      //governer forward
      if (command.startsWith("GF")) {
        command.replace("GF", " ");
        command.trim();
        if (command.toInt() > 0) {
          _GOVERNER_F = command.toInt();
        }
      }

