diff --git a/software/environment/rover/UDEV_rules/99-rover-usb-serial.rules b/software/environment/rover/UDEV_rules/99-rover-usb-serial.rules
index 1c19eb2..9645ba8 100644
--- a/software/environment/rover/UDEV_rules/99-rover-usb-serial.rules
+++ b/software/environment/rover/UDEV_rules/99-rover-usb-serial.rules
@@ -14,8 +14,8 @@ SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{seria
 SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_0_3"
 
 SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_1_0"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyOdometry"
-SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyTowerAndPanTilt"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyTowerAndPanTilt"
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyOdometry"
 SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_1_3"
 
 SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM34WE0R", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_2_0"
diff --git a/software/firmware/tower_pan_tilt/tower_pan_tilt.ino b/software/firmware/tower_pan_tilt/tower_pan_tilt.ino
index f7bd4b1..14736d6 100644
--- a/software/firmware/tower_pan_tilt/tower_pan_tilt.ino
+++ b/software/firmware/tower_pan_tilt/tower_pan_tilt.ino
@@ -38,12 +38,12 @@ bool communication_good = false;
 uint8_t message_count = 0;
 
 // Pan/tilt hard limits
-const int pan_min = 1415;
-const int pan_center = 1538;
-const int pan_max = 1665;
+const int pan_min = 1470;
+const int pan_center = 1600;
+const int pan_max = 1725;
 
-const int tilt_min = 0;
-const int tilt_center = 1900;
+const int tilt_min = 1020;
+const int tilt_center = 1820;
 const int tilt_max = 2400;
 
 // Pan/tilt positions
@@ -57,6 +57,8 @@ Servo pan_servo;
 Servo tilt_servo;
 
 void setup() {
+//  Serial.begin(9600);
+//  while(!Serial);
   setup_hardware();
 
   num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]);
@@ -82,8 +84,8 @@ void setup_hardware() {
   pan_servo.attach(HARDWARE::SERVO_PAN);
   tilt_servo.attach(HARDWARE::SERVO_TILT);
 
-  pan_servo.write(pan_center);
-  tilt_servo.write(tilt_center);
+  pan_servo.writeMicroseconds(pan_center);
+  tilt_servo.writeMicroseconds(tilt_center);
 
   pinMode(HARDWARE::LED_RED, OUTPUT);
   pinMode(HARDWARE::LED_GREEN, OUTPUT);
@@ -124,8 +126,8 @@ void set_leds() {
 void set_pan_tilt_adjustments() {
   if (communication_good) {
     if (modbus_data[MODBUS_REGISTERS::CENTER_ALL]) {
-      pan_servo.write(constrain(pan_position, pan_min, pan_max));
-      tilt_servo.write(constrain(tilt_position, tilt_min, tilt_max));
+      pan_servo.writeMicroseconds(constrain(pan_position, pan_min, pan_max));
+      tilt_servo.writeMicroseconds(constrain(tilt_position, tilt_min, tilt_max));
 
       pan_position = pan_center;
       tilt_position = tilt_center;
@@ -133,11 +135,15 @@ void set_pan_tilt_adjustments() {
       modbus_data[MODBUS_REGISTERS::CENTER_ALL] = 0;
     }
 
-    pan_position = pan_position - modbus_data[MODBUS_REGISTERS::PAN_ADJUST_POSITIVE] + modbus_data[MODBUS_REGISTERS::PAN_ADJUST_NEGATIVE];
-    tilt_position = tilt_position + modbus_data[MODBUS_REGISTERS::TILT_ADJUST_POSITIVE] - modbus_data[MODBUS_REGISTERS::TILT_ADJUST_NEGATIVE];
+    pan_position = constrain(pan_position - modbus_data[MODBUS_REGISTERS::PAN_ADJUST_POSITIVE] + modbus_data[MODBUS_REGISTERS::PAN_ADJUST_NEGATIVE], pan_min, pan_max);
+    tilt_position = constrain(tilt_position + modbus_data[MODBUS_REGISTERS::TILT_ADJUST_POSITIVE] - modbus_data[MODBUS_REGISTERS::TILT_ADJUST_NEGATIVE], tilt_min, tilt_max);
 
-    pan_servo.write(constrain(pan_position, pan_min, pan_max));
-    tilt_servo.write(constrain(tilt_position, tilt_min, tilt_max));
+    pan_servo.writeMicroseconds(pan_position);
+    tilt_servo.writeMicroseconds(tilt_position);
+
+//    Serial.print(pan_position);
+//    Serial.print("\t");
+//    Serial.println(tilt_position);
 
     modbus_data[MODBUS_REGISTERS::PAN_ADJUST_POSITIVE] = 0;
     modbus_data[MODBUS_REGISTERS::PAN_ADJUST_NEGATIVE] = 0;
diff --git a/software/ros_packages/ground_station/src/Framework/InputSystems/JoystickControlSender.py b/software/ros_packages/ground_station/src/Framework/InputSystems/JoystickControlSender.py
index 4d5bb07..c8ec883 100644
--- a/software/ros_packages/ground_station/src/Framework/InputSystems/JoystickControlSender.py
+++ b/software/ros_packages/ground_station/src/Framework/InputSystems/JoystickControlSender.py
@@ -16,7 +16,7 @@ from rover_control.msg import DriveCommandMessage, TowerPanTiltControlMessage
 GAME_CONTROLLER_NAME = "Logitech Logitech Extreme 3D Pro"
 
 DEFAULT_DRIVE_COMMAND_TOPIC = "/rover_control/command_control/ground_station_drive"
-DEFAULT_PAN_TILT_COMMAND_TOPIC = "/tower/control"
+DEFAULT_PAN_TILT_COMMAND_TOPIC = "/rover_control/pan_tilt/control"
 
 DRIVE_COMMAND_HERTZ = 15
 
@@ -31,9 +31,10 @@ CAMERA_CHANGE_TIME = 0.2
 GUI_ELEMENT_CHANGE_TIME = 0.2
 CAMERA_TOGGLE_CHANGE_TIME = 0.35
 
-PAN_TILT_X_AXIS_SCALAR = 5
+PAN_TILT_X_AXIS_SCALAR = 3
 PAN_TILT_Y_AXIS_SCALAR = 10
 
+
 #####################################
 # Controller Class Definition
 #####################################
diff --git a/software/ros_packages/rover_control/src/tower_pan_tilt_control/tower_and_pan_tilt_control.py b/software/ros_packages/rover_control/src/tower_pan_tilt_control/tower_and_pan_tilt_control.py
index 4c74285..37cf6ac 100755
--- a/software/ros_packages/rover_control/src/tower_pan_tilt_control/tower_and_pan_tilt_control.py
+++ b/software/ros_packages/rover_control/src/tower_pan_tilt_control/tower_and_pan_tilt_control.py
@@ -16,16 +16,16 @@ from rover_control.msg import TowerPanTiltControlMessage
 #####################################
 # Global Variables
 #####################################
-NODE_NAME = "drive_control"
+NODE_NAME = "pan_tilt_and_tower_control"
 
-DEFAULT_PORT = "/dev/ttyUSB0"
+DEFAULT_PORT = "/dev/rover/ttyTowerAndPanTilt"
 DEFAULT_BAUD = 115200
 
 DEFAULT_INVERT = False
 
-DEFAULT_TOWER_PAN_TILT_CONTROL_TOPIC = "tower/control"
+DEFAULT_TOWER_PAN_TILT_CONTROL_TOPIC = "pan_tilt/control"
 
-NODE_ID = 1
+NODE_ID = 2
 
 COMMUNICATIONS_TIMEOUT = 0.01  # Seconds
 
diff --git a/software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch b/software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
index af7eaae..ec55c1c 100644
--- a/software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
+++ b/software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
@@ -6,7 +6,8 @@
             <param name="destination_addr" value="$(arg target)" />
             <param name="destination_port" value="17100" />
             <rosparam param="topics">
-                [{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0}]
+                [{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0},
+                {name: "/rover_control/pan_tilt/control", compress: true, rate: 15.0}]
             </rosparam>
         </node>
 
@@ -18,7 +19,7 @@
                 {name: "/cameras/undercarriage/camera_control", compress: false, rate: 5.0},
                 {name: "/cameras/main_navigation/camera_control", compress: false, rate: 5.0},
                 {name: "/cameras/end_effector/camera_control", compress: false, rate: 5.0},
-                {name: "/rover_status/update_requested", compress: false, rate: 5.0}]
+                {name: "/rover_status/update_requested", compress: false, rate: 5.0},]
             </rosparam>
         </node>
     </group>
diff --git a/software/ros_packages/rover_main/launch/rover/control.launch b/software/ros_packages/rover_main/launch/rover/control.launch
index 033ca9e..8acd219 100644
--- a/software/ros_packages/rover_main/launch/rover/control.launch
+++ b/software/ros_packages/rover_main/launch/rover/control.launch
@@ -32,5 +32,7 @@
         </node>
 
         <node name="drive_coordinator" pkg="rover_control" type="drive_coordinator.py" respawn="true" output="screen"/>
+
+        <node name="tower_and_pan_tilt" pkg="rover_control" type="tower_and_pan_tilt_control.py" respawn="true" output="screen"/>
     </group>
 </launch>