I performed three operations. One: I attempted to get the program to fail gracefully if passed improper init parameters in the zeno_popolu_motors.yaml file. It does this by clamping to the min/max pulses. Two: I attempted to get the program to do likewise if passed an invalid command at run time (it clamps to the allowed range). Three: I edited the config files to reflect the correct angle ranges. I will be pushing another commit soon where I double check that none of the init values went astray in our earlier testing.