diff --git a/ros_arduino_python/config/arduino_params.yaml b/ros_arduino_python/config/arduino_params.yaml
index a53c852..eb7a587 100644
--- a/ros_arduino_python/config/arduino_params.yaml
+++ b/ros_arduino_python/config/arduino_params.yaml
@@ -51,6 +51,6 @@ sensors: {
 
 # Joint name and configuration is an example only
 joints: {
-    head_pan_joint: {pin: 3, init_position: 0, init_speed: 90, neutral: 90, min_angle: -90, max_angle: 90, invert: False, continous: False},
-    head_tilt_joint: {pin: 5, init_position: 0, init_speed: 90, neutral: 90, min_angle: -90, max_angle: 90, invert: False, continous: False}
+    head_pan_joint: {pin: 3, init_position: 0, init_speed: 90, neutral: 90, min_position: -90, max_position: 90, invert: False, continuous: False},
+    head_tilt_joint: {pin: 5, init_position: 0, init_speed: 90, neutral: 90, min_position: -90, max_position: 90, invert: False, continuous: False}
 }
diff --git a/ros_arduino_python/config/servo_example_params.yaml b/ros_arduino_python/config/servo_example_params.yaml
index 18596c1..c2504f5 100644
--- a/ros_arduino_python/config/servo_example_params.yaml
+++ b/ros_arduino_python/config/servo_example_params.yaml
@@ -27,5 +27,5 @@ sensors: {
 
 # Joint name and pin assignment is an example only
 joints: {
-    head_pan_joint: {pin: 3, init_position: 30, init_speed: 90, neutral: 90, min_angle: -90, max_angle: 90, invert: False, continous: False}
+    head_pan_joint: {pin: 3, init_position: 30, init_speed: 90, neutral: 90, min_position: -90, max_position: 90, invert: False, continuous: False}
 }
diff --git a/ros_arduino_python/src/ros_arduino_python/servo_controller.py b/ros_arduino_python/src/ros_arduino_python/servo_controller.py
index 3de3018..526f92f 100755
--- a/ros_arduino_python/src/ros_arduino_python/servo_controller.py
+++ b/ros_arduino_python/src/ros_arduino_python/servo_controller.py
@@ -64,8 +64,8 @@ class Servo(Joint):
 
         # Min/max/neutral values
         self.neutral = radians(rospy.get_param(n + "neutral", 90.0))       # degrees
-        self.max_angle = radians(rospy.get_param(n + "max_angle", 90.0))   # degrees
-        self.min_angle = radians(rospy.get_param(n + "min_angle", -90.0))  # degrees
+        self.max_position = radians(rospy.get_param(n + "max_position", 90.0))   # degrees
+        self.min_position = radians(rospy.get_param(n + "min_position", -90.0))  # degrees
         self.range = radians(rospy.get_param(n + "range", 180))            # degrees
         self.max_speed = radians(rospy.get_param(n + "max_speed", 250.0))  # deg/s
 
@@ -88,11 +88,11 @@ class Servo(Joint):
 
     def command_cb(self, req):     
         # Check limits
-        if req.data > self.max_angle:
-            req.data = self.max_angle
+        if req.data > self.max_position:
+            req.data = self.max_position
         
-        if req.data < self.min_angle:
-            req.data = self.min_angle
+        if req.data < self.min_position:
+            req.data = self.min_position
         
         # Adjust for the neutral offset
         if self.invert: