  * e.g. [-100, 100]
  */
 double pollProximity(){
-  return map(vcnl.readProximity(), HIGH_PROX_VAL, LOW_PROX_VAL, -FIDELITY, FIDELITY);
+  return map(vcnl.readProximity(), HIGH_PROX_VAL, LOW_PROX_VAL, FIDELITY, -FIDELITY) + (FIDELITY / 2.0);
 }
 
 /*

 */
#include <Wire.h>
#include "Adafruit_VCNL4010.h"

Adafruit_VCNL4010 vcnl;

static int FIDELITY = 100;

static int FET_ONE = 3; // The black magnet
static int FET_TWO = 6; // The yellow magnet

double HIGH_PROX_VAL = 0.0;
double LOW_PROX_VAL  = 0.0;

void setupProximitySensor(double &high_val, double &low_val); 
double pollProximity();
void pwm(int pin, double high, double low);


    while(1);  
  }
  Serial.println("############## SENSOR CALIBRATION ###############");
  setupProximitySensor(HIGH_PROX_VAL, LOW_PROX_VAL);
  Serial.println("############ DONE SENSOR CALIBRATION ############");

  Serial.println("################### SET UP PID ##################");
  setupPID();
  Serial.println("################### DONE PID ####################");

  // Set up the fets and set them both low.
  pinMode(FET_ONE, OUTPUT);
