   }
   else
   {
-    Instrument[Brakes].Joystick = MinimumBrake + (FullBrake - MinimumBrake)
-      * (-upStick + tinyDown) / tinyDown;
+    if (upStick < limitStickDown)
+        upStick = limitStickDown;
+    x = (tinyDown - upStick);
+    x *= (FullBrake - MinimumBrake);
+    x /= (tinyDown - limitStickDown);
+    x  += MinimumBrake;
+    Instrument[Brakes].Joystick = x;
     Instrument[Brakes].StickMoved =  TRUE;
   }
 

           delayMicroseconds(100);             // analogRead takes 100 usec
       }
       int feedback = median_filter(feedbacks);
       Serial.print(feedback); Serial.print(", ");
       return feedback;
  }
} Instrument[3];

const int TopSpeed_degPs = 1800;
const int FullBrakeFB = 760;  // need to get a real value
const int MinimumBrakeFB = 303;  // need to get a real value

// Joystick limits
const int limitStickUp = 893;  // observed
const int limitStickDown = 150;  // guess
const int limitStickLeft = 900;  // guess
const int limitStickRight = 150; // guess

/* There is hysteresis on steering.
  E.g. Move to the left until PWM 223, getting FB of 760.
