 
 #define SERVO_OFF  1000
 #define SERVO_HOVER 1000 // TODO: Find the actual value
-#define SERVO_FULL 2000 // TODO: Find the actual value
-#define FRONT_LEFT 0
-#define FRONT_RIGHT 1
-#define BACK_LEFT 2
-#define BACK_RIGHT 3
+#define SERVO_FULL 3000 // TODO: Find the actual value
+
+
+#define FRONT_LEFT  2
+#define FRONT_RIGHT 3
+#define BACK_LEFT   4
+#define BACK_RIGHT  5
+
 #define TEST_CONTROLS
 
 Servo rotor[4];

void Land()
{
  double Height = 0;
  for (int i = 0; i < 4; ++i)
    SetMotor(i, SERVO_HOVER - 250); // Put all four motors on low power, but can still go up.
    
  while (Height > .5)
  {
    Height = 0; // Fill this in with the actual height-finding code later
  }
  for (int i = 0; i < 4; ++i)
    SetMotor(i, SERVO_OFF);
}

void setup() {
#ifdef TEST_CONTROLS
  ManualControl = true;
#else

void LiftOff(float feet){
  double Height = 0; 
  // Read the height from the ultrasonic sensors 
  SetAllMotors(SERVO_HOVER + 250); // Put all four motors on low power, but can still go up.
    
  while (Height < feet)
  {
