       persistantRotation=NO_ROTATION;
       Serial.println("{\"response\":\"OK goforward\"}");
     }
-    
+
     if (gobackward->type == aJson_Int) {
       int aspeed=gobackward->valueint;
-      persistantSpeed=aspeed;     
+      persistantSpeed=aspeed;
       persistantDirection=DIRECTION_BACKWARD;
       persistantBias=0;
       persistantRotation=NO_ROTATION;
      Serial.println("{\"response\":\"OK gobackward\"}");
     }
 
-    
+
     if (gobackward->type == aJson_String) {
       //lcd.print(String(line3->valuestring));
       persistantSpeed=SPEED_FAST;

 *     functions may also be affected.
 *   - Changes on pins 9 or 10 will cause the Servo library to function
 *     incorrectly.
 * 
 * Thanks to macegr of the Arduino forums for his documentation of the
 * PWM frequency divisors. His post can be viewed at:
 *   http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1235060559/0#4
 */
 
void setPwmFrequency(int pin, int divisor) {
  byte mode;
  if(pin == 5 || pin == 6 || pin == 9 || pin == 10) { // Timer0 or Timer1

const int SPEED_RIDICULOUS=70;
const int SPEED_LUDICROUS=80;
const int NO_ROTATION=0;
const int LEFT_ROTATION=1;
const int RIGHT_ROTATION=-1;

// Compass Constants
const int compassI2CAddress=0x1E;

// Remote Control
const int ultrasonicRangeFinderPin= 4;

// Globals
float lastHeading=-2;
float lastRange=-1;
float persistantBias=0;
