public void Position (double value){
    	
            double forward = 2.1;
            double center = 1.50;
            double reverse = 1.00;
            double ms;
            
            lastPosition = value;
            
            value = (value > 1) ? 1 : value;
            value = (value < -1) ? -1 : value;

            if (value > 0)
            {
                ms = center + value * (forward - center);
            }
            else
            {
                ms = center + value * (center - reverse);
            }

            canipede.SetPWMValue(pwmChannel, (short)(ms * 1e6 / 200));
   }