diff --git a/src/rov/rov_pca9685/include/pca9685/ServoDriver.hpp b/src/rov/rov_pca9685/include/pca9685/ServoDriver.hpp
index c78d4dd..47498b3 100644
--- a/src/rov/rov_pca9685/include/pca9685/ServoDriver.hpp
+++ b/src/rov/rov_pca9685/include/pca9685/ServoDriver.hpp
@@ -15,13 +15,13 @@ struct ServoBase {
 };
 
 struct Servo : ServoBase {
-    uint16_t us_minimum = 1000;
-    uint16_t us_maximum = 2000;
+    uint16_t us_minimum = 1100;
+    uint16_t us_maximum = 1900;
 };
 
 struct ContinuousServo : ServoBase {
-    uint16_t us_minimum = 1000;
-    uint16_t us_maximum = 2000;
+    uint16_t us_minimum = 1100;
+    uint16_t us_maximum = 1900;
 };
 
 class ServoDriver {
diff --git a/src/rov/rov_pca9685/src/PCA9685.cpp b/src/rov/rov_pca9685/src/PCA9685.cpp
index c387950..3ea4f9f 100644
--- a/src/rov/rov_pca9685/src/PCA9685.cpp
+++ b/src/rov/rov_pca9685/src/PCA9685.cpp
@@ -82,7 +82,7 @@ void PCA9685::reset() {
 }
 
 void PCA9685::setFrequency(uint16_t frequency) {
-    static const uint16_t NUM_COUNTS = 3932; // scaling factor since clock sucks balls lol
+    static const uint16_t NUM_COUNTS = 4123; // scaling factor since clock sucks balls lol
     static const uint16_t MIN_FREQUENCY = 24; // Hz
     static const uint16_t MAX_FREQUENCY = 1526; // Hz
     // if given frequency is not valid, do nothing
diff --git a/src/rov/rov_pca9685/src/ServoDriver.cpp b/src/rov/rov_pca9685/src/ServoDriver.cpp
index 5b2878e..95f04cb 100644
--- a/src/rov/rov_pca9685/src/ServoDriver.cpp
+++ b/src/rov/rov_pca9685/src/ServoDriver.cpp
@@ -28,14 +28,14 @@ void ServoDriver::registerServo(uint8_t channel, ServoType type) {
     case ServoType::POSITIONAL:
         servos[channel] = Servo();
         RCLCPP_INFO(rclcpp::get_logger("ServoDriver"), "Registered positional servo on channel %d", channel);
-        setUSBounds(channel, 1000, 2000);
+        setUSBounds(channel, 1100, 1900);
         setAngle(channel, 90.0f);
         break;
     
     case ServoType::CONTINUOUS:
         continuous_servos[channel] = ContinuousServo();
         RCLCPP_INFO(rclcpp::get_logger("ServoDriver"), "Registered continuous servo on channel %d", channel);
-        setUSBounds(channel, 1000, 2000);
+        setUSBounds(channel, 1100, 1900);
         setThrottle(channel, 0.0f);
         break;
     }