 }
 
 
-
+//Sweeps the steering servo
 void sweep(){
   set_steer_angle(0);
   delay(100);
   //sweep steering
-  for(int i=-90;i<90;i++){
+  for(int i=-45;i<45;i++){
     set_steer_angle(i);
     delay(10);
   }
-  for(int i=90;i>=-90;i--){
+  for(int i=45;i>=-45;i--){
     set_steer_angle(i);
     delay(10);
   }

/*
 * Be sure to first calibrate the ESC
 */
#include <Servo.h>

Servo steering_servo;
Servo throttle_servo;


void set_steer_angle(int angle){
  int map_angle = map(angle, -90, 90, 0, 180);
  steering_servo.write(map_angle);
}

void set_throttle_position(int sp){
  //Add 1 to the position so that zero is actually 1. This seems to keep the ESC alive.
  if(sp==0){
    sp = 0;
  }
  
  int map_throttle = map(sp, -100, 100, 1000, 2000);
  throttle_servo.writeMicroseconds(map_throttle);
}


void reverse(int sp){
  set_throttle_position(-100);
  delay(3000);

  delay(100);
}

//This method launches the vehicle off the start line!
void launch(){
  Serial.println("Vector79: launching (wish me luck)...");
  set_throttle_position(0);
  delay(100);
  set_throttle_position(-50);
