   SetPosition(PORT_SERVO, 90 * ANGLE_CONVERSION);
   SetPosition(STBD_SERVO, 90 * ANGLE_CONVERSION);
 
-  aft_thruster.attach(12);
-  port_thruster.attach(14);
-  stbd_thruster.attach(13);
+  aft_thruster.attach(AFT_THRUSTER);
+  port_thruster.attach(PORT_THRUSTER);
+  stbd_thruster.attach(STBD_THRUSTER);
 
-  aft_thruster.write(90);
-  port_thruster.write(90);
-  stbd_thruster.write(90);
+  aft_thruster.writeMicroseconds(ZERO_THRUST);
+  port_thruster.writeMicroseconds(ZERO_THRUST);
+  stbd_thruster.writeMicroseconds(ZERO_THRUST);
   
   pinMode(0, OUTPUT);
   digitalWrite(0, heartbeat);

    SetPosition(PORT_SERVO, port_angle * ANGLE_CONVERSION);
    SetPosition(STBD_SERVO, stbd_angle * ANGLE_CONVERSION);

    aft_thruster.write(aft_power * POWER_CONVERSION + 90);
    port_thruster.write(port_power * POWER_CONVERSION + 90);
    stbd_thruster.write(stbd_power * POWER_CONVERSION + 90);
  }
}



const int PORT_SERVO = 18;
const int STBD_SERVO = 15;
const int AFT_THRUSTER = 12;
const int PORT_THRUSTER = 14;
const int STBD_THRUSTER = 13;

const int MIN_THRUST = 1000;
const int ZERO_THRUST = 1500;
const int MAX_THRUST = 2000;

const int PACKET_SIZE = 10;
byte packet[PACKET_SIZE];

Servo aft_thruster;
Servo port_thruster;
