function valid = check_servos(delta_theta_s1, delta_theta_s2)

deadband = 8; %u_secs, from spec. sheet
range_min = 600; %u_secs
range_max = 2400; %u_secs
delta_range = range_max - range_min;
valid = 1; %set to 0 if we violate a constraint

slope_s1 = delta_theta_s1/delta_range
slope_s2 = delta_theta_s2/delta_range

%convert deadband(u_sec) to deadband(degrees)
theta_deadband_s1 = slope_s1*deadband *0.5; %degrees
theta_deadband_s2 = slope_s2*deadband *0.5; %degrees

range_min_err = abs(slope_s2*range_min - slope_s1*range_min); %degrees
range_max_err = abs(slope_s2*range_max - slope_s1*range_max) %degrees

%how much can we shift the line to correct error@range_max without
%exceeding the deadbands at the range_min position
translation = range_min_err + theta_deadband_s1 + theta_deadband_s2; %degrees

%how far apart can both lines be(before translation) 
%without exceeding the deadbands
acceptable_err = theta_deadband_s1 + theta_deadband_s2 + translation %degrees

%find useable range limit, ie: where does range_max_err = acceptable_err
%this number may be larger than the actual physical joint limit
useable_range_max = acceptable_err / abs(slope_s2-slope_s1)%u_secs

%this will tell you the range(degrees) for which both servos can be aligned so that they do not fight eachother
%note: This range can be greater than the mechanical limit of the potentiometer 
useable_range_degrees = useable_range_max * min(slope_s1, slope_s2) - range_min * min(slope_s1, slope_s2)

if (range_max_err < acceptable_err)
    display('match!')
else
    display('invalid pair!')
    valid = 0;
end