     // reset the timer
     updateTime = now;
     
-    // local debug -- you can get rid of this
-    //Serial.println("send one");
   } // end if
   
   updateSpeed(elapsed);
   checkLimitSwitch();
+  checkPositionLimits();
   
   // check for incoming messages 
   etherOSC.listen();

void checkLimitSwitch() {
  int hardLimit = digitalRead(HARDLIMITPIN);
  if (hardLimit==1) {
    go(0);
    goalSpeed = 0;
  }
}



// physical:
const float WHEEL_RADIUS = (2.0 + 0.125) * 2.54; // 2 inch wheel + 1/8" grommet, in cm
const float MAX_POSITION = 51.0; // in cm



