 Extreme values outside range only occur with extremes of trim, which 
 should be a rare outlier - will avoid the overhead of a constrain() operation
 
+motor currently being controlled by seperate motor controller
+could bring this function in but need more testing since failed wiht extremes of backing up.
+
 
 ******************************************************************************/
 

unsigned long wristPulse = 0;
unsigned long clawPulse = 0;

int clawAngle = 85;
int ClawRDZ = 1450; // threshold for closing claw - right limit of dead zone
int ClawLDZ = 1550; // threshold for opening claw
const int minClawAngle = 5;      // limit travel to protect servo
const int maxClawAngle = 135;

/********************
====== BODY =========

    interrupts();   // there is a safer way to do this by saving and restoring 
                    // settings register, but since I'm not using extensive 
                    // libraries should be OK
    wristAngle = map(wristPulse, 1000, 2000, minWristAngle, maxWristAngle);
    wristAngle = constrain(wristAngle, maxWristAngle, minWristAngle); // want to lower when joystick forward, so map in reverse
    wrist.write(wristAngle);
  }
  if (clawFlag){ 
    noInterrupts(); 
