 * ---------------------------------------------------------------------------- */
 void steeringTask(){
     uint16_t steeringPot0;
-    float steerAngle;
 
     steeringPot0 = analogRead(STEERING0_PIN);
     steerAngle = (steeringPot0 - STEERING_CENTER) * RAD_PER_VAL;

    else if (logging_flag)
    {
        // Add an entry to the logging buffer
        sdLogger.addEntry(micros(), requestedThrottle, leftThrottle, rightThrottle, steerAngle, rightRPM);
        sdLogger.fastLog();
        logging_flag = false;
    }

uint32_t rightRPM = 0;
float omega_vehicle;

float steerAngle = 0.0;

void setup()
{
