 
 //sets the steering angle between -45, 45 for full left /right respectively. set to zero for straight ahead
 void set_steer_angle(int angle){
-  angle = angle + STEER_BIAS;
+  angle = angle + _STEER_BIAS;
+  steering_angle = angle;
   int map_angle = map(angle, -45, 45, 0, 180);
   steering_servo.write(map_angle);
 }
 
 //when using the transmitter, map the steering to the TX output
-void set_steer_angle_manual(int sp){  
+void set_steer_angle_manual(int sp){
   int map_angle = map(sp, STEER_MIN, STEER_MAX, -45, 45);
   set_steer_angle(map_angle);
 }
 
 //controls the acceleration/deccelration of the robot. -100 is full break to 100 full gas
-void set_throttle_position(int sp){
-  int map_throttle = map(sp, -100, 100, 1000, 2000);
+void set_throttle_position(int pos){
+  throttle_pos = pos;
+  
+  int map_throttle = map(pos, -100, 100, 1000, 2000);
   //set minimum is 1400 for reverse and 1550 for slow forward
-  if (map_throttle < 1400){
-    map_throttle = 1400;
-  }
-  if(map_throttle > 1550){
-    map_throttle = 1550;
-  }
+  if (map_throttle < 1200){
+    map_throttle = 1200;
+  }
+  if(map_throttle > _GOVERNER){
+    map_throttle = _GOVERNER;
+  }
+
   throttle_servo.writeMicroseconds(map_throttle);
 }
 

const int LED_GREEN = 2;
const int LED_RED = 3;




//servos
Servo steering_servo;
Servo throttle_servo;

int steer_input;
int throttle_input;

//make sure we have a transmitter so that we can safety stop the car
bool TX_found, TX_high, TX_low;

  while (!TX_found){
      //read in the from the controller
      throttle_input = pulseIn(THROTTLE_IN, HIGH, 25000);
     
      //toggle red led while waiting to arm
      toggle_LED(LED_RED, true);
      delay(10);
