 
             if (CB_MOTOR_COMMAND == header) {
                 cb_motor_command_packet_t* motor = (cb_motor_command_packet_t*)m_rx_buffer;
-                analogWrite(STEERING_PWM_PIN, motor->steering_pwm);
+                //analogWrite(STEERING_PWM_PIN, motor->steering_pwm);
+                steeringservo.write(motor->steering_pwm);
                 analogWrite(DRIVE_PWM_PIN, motor->drive_pwm);
             }
         }

uint8_t m_tx_len = 0;
HDLC hdlc(m_rx_buffer, 40);

void send_telemetry(uint8_t left, uint8_t right, uint8_t front_left, uint8_t front_right) {
    bc_telemetry_packet_t bc_telemetry;
    bc_telemetry.header = BC_TELEMETRY;

#include <Servo.h>

#include "SharpIR.h"
#include "Communication.h"
