[marccenter]

Looking at your code, I would recommend that you replace some of your absolute numbers with Calibration
values for future ease of Use. That way,you can change one Calibration value at the top of your program and it
changes all the values in your program saving you valuable editing time and the possibility of an editing bo-bo. For Example, if Fwd is > 127 for pwm outputs, try something Like Fwd_Low = 150 ; Fwd_Med = 170 ;Fwd_High = 190 , Similiarly, if
Rwd is < 127 how about Rev_Low = 104, Rev_Med = 84, and Rev_High = 64.