   Serial.println(results[RC_GO]);
   if (liveBrake(results[RC_GO])){
     Serial.print("Braking: "); Serial.println(results[RC_GO]);
-    convertBrake ((results[RC_GO]));
+    brake(convertBrake(results[RC_GO]));
+  }
+  else {
+    brake(MIN_BRAKE_OUT);
   }
 
   //Accelerating

    delay(nextTime - endTime);
  } else {
    // Yes, we overran the expected loop interval. Extend the time.
    nextTime = endTime + 1000 * LOOP_TIME_MS;
  }
}
/*---------------------------------------------------------------------------------------*/

  //  PrintDone();

  while (micros() < nextTime &&
         ~((RC_Done[RC_ESTP] == 1) && (RC_Done[RC_GO] == 1) && (RC_Done[RC_TURN] == 1) && (RC_Done[RC_RDR] == 1)))
  {
    ;  //wait
  }
  // got data;
  for (int i = 0; i < 8; i++)
    local_results[i] = RC_elapsed[i];
  //Print7(false, local_results);
  //Serial.println("Processing RC data...");
  byte automate = processRC(local_results);
  if (automate == 0x01) //remember to tell Pat to fix this, was = instead of ==
  {
    //Serial.println("Processing high-level data");
    processHighLevel(&Results);
  }
  //    Print7( true, local_results);

  
  //Serial.println(nextTime); //Old sanity check line; testing new pin output sanity check.
  //Serial.println("Clearing Results");
//  Results.Clear();
//  Results.kind = MSG_SENSOR;
//  Results.angle_deg = TurnAngle_degx10() / 10;
  //show_speed (&Results);

  // Report how long the loop took.
  
 

  //LogData(local_results, &Results);  // data for spreadsheet

  calibrationTime_ms += LOOP_TIME_US;
  straightTime_ms = (steer_control == STRAIGHT_TURN_OUT) ? straightTime_ms + LOOP_TIME_US : 0;
  stoppedTime_ms = (throttle_control == MIN_ACC_OUT) ? stoppedTime_ms + LOOP_TIME_US : 0;
  if (calibrationTime_ms > 40000 && straightTime_ms > 3000 && stoppedTime_ms > 3000)
  {
    //       int oldBrake = brake_control;
