 const int SCHEDULE_DELAY  = 25;
 const int STEERTHROW	  = 30; //degrees from far turn to center
 const int REVTHROW		  = 20;
-const int FWDSPEED		  = 115;
+const int MIN_FWD		  = 105;
+const int MAX_FWD		  = 115;
 const int REVSPEED        = 75;
 const int STOP_TIME       = 1500;//time to coast to stop
 const int DANGER_TIME     = STOP_TIME+800; //time to backup after last sighting

		outputAngle = toDeg(atan2(y,x))+90;
		bound(double(90-STEERTHROW), outputAngle, double(90+STEERTHROW));

		//slow down near waypoints
		int speed = (distance*5280.l);//distance in feet;
		speed *= speed;
		speed += 96;
		speed = min(FWDSPEED, speed);

		if(stop) output(90 ,90);
		else     output(speed, outputAngle);

							reportLocation,
							};

int speed;

void setup() {
	Serial1.begin(38400);
	CommSerial->begin(9600);
