   SPI.setBitOrder(MSBFIRST);
   SPI.begin();
 
+  attachInterrupt(STEER_INTER_1, steer_inter_1, CHANGE); 
+  attachInterrupt(STEER_INTER_2, steer_inter_2, CHANGE);
+  attachInterrupt(STEER_INTER_G, steer_inter_180, RISING);
   steer.attach(STEER_PIN);
   
   attachInterrupt(BRAKE_ON_PIN, brakeState, RISING);

  setTime();
}

//void moveSteering(bool right)
//{
//  if(right)
//  {
//    steer.writeMicroseconds(1100);
//    cmdMessenger.sendCmd(kACK,"I send right");
//  }
//  else
//  {
//    steer.writeMicroseconds(1900);
//    cmdMessenger.sendCmd(kACK,"I send left");
//  }
//}

void stopSteering()
{
  steer.writeMicroseconds(1500);
}

void Steering()
{

Servo brake;

int readSpeed;
volatile double steeringAngle = 0.0;
volatile boolean inter_1_state;
volatile boolean inter_2_state;
volatile boolean inter_g_state;
int steerSetTime;
boolean forwardDirection = true;
volatile boolean brake_state = false;
