   setupChangeInterrupt(OVERRIDE_SERVO_PIN);
   gyro.attach();
   gyro.begin(); //default 80ms
-  delay(1000);
+  delay(500); //wait a bit for the esc
   car.enableCruiseControl(encoderLeft);
   car.setSpeed(0);
   Serial.begin(115200); //to HLB

  if (qualityCheck) { //good quality, means that the RC controller is turned on, therefore we should go on override mode
    overrideTriggered = true;
    overrideRelease = millis() + OVERRIDE_TIMEOUT; //specify the moment in the future to re-enable Serial communication
  } else { //this means that at least one of the last 8 measurements was not valid, therefore we consider the signal not to be of good quality (RC controller is turned off)
    throttleSignalPending = false; //indicate that loop() has processed/disregarded the throttle signal
    steeringSignalPending = false; //indicate that loop() has read/disregarded the servo signal
  }

unsigned long prevCheck = 0; //for the LEDs
const unsigned short LEDrefreshRate = 200;

const unsigned short OVERRIDE_TIMEOUT = 500;
unsigned long overrideRelease = 0; //variable to hold WHEN the override should be lifted
volatile boolean overrideTriggered = false; //volatile since we are accessing it inside an ISR

