 // @ToDo: This has changed. Is it specific to some particular setup or trike?
 // If so, it should be moved to Settings.h.
 #define s7s Serial2
+Servo STEER_SERVO;
 
 #define LOOP_TIME_MS 400
-#define ERROR_HISTORY 20 //number of errors to accumulate 
+#define ERROR_HISTORY 20 //number of errors to accumulate
+#define TEN_SECONDS_IN_MICROS 10000000
 
 /*================ReadTurnAngle ================*/
 // @ToDo: Are these specific to a particular trike? If so, move them to Settings.h.

    //Step 1: Wait for controller to turn on, and leave joysticks in neutral
//    while (micros() < TEN_SECONDS_IN_MICROS ||
//    ~((RC_Done[RC_ESTP]) && (RC_Done[RC_GO]) && (RC_Done[RC_TURN]) ))
    digitalWrite(LED_PIN_OUT, HIGH); //wait for 10 seconds to receive radio signal to Calibrate Neutral Positions on RC controller, otherwise proceed

    //Step 2: Calibrate MIDDLE
    Serial.println(RC_elapsed[RC_GO]);
    MIDDLE = RC_elapsed[RC_GO];
    Serial.print("MIDDLE \t");
    Serial.println(MIDDLE);
    mic = micros();
    
    //Step 3: Turn on LED and wait for Right joystick DOWN
    digitalWrite(LED_PIN_OUT, HIGH);
    while(micros() < (mic + (TEN_SECONDS_IN_MICROS/4)))
    digitalWrite(LED_PIN_OUT, HIGH);//wait
    //if
    digitalWrite(LED_PIN_OUT, LOW);
    //Set MIN_RC
    MIN_RC = RC_elapsed[RC_GO];
    Serial.print("MIN_RC \t");
    Serial.println(MIN_RC);
    mic = micros();

    //Step 4:Turn on LED again and wait for Right joystick UP
    digitalWrite(LED_PIN_OUT, HIGH);
    while(micros() < (mic + (TEN_SECONDS_IN_MICROS/4)))
    digitalWrite(LED_PIN_OUT, HIGH);//wait

    MAX_RC = RC_elapsed[RC_GO];
    Serial.print("MAX_RC \t");
    Serial.println(MAX_RC);
    digitalWrite(LED_PIN_OUT, LOW);
}

/*---------------------------------------------------------------------------------------*/

float HubSpeed_kmPh;
const float  HubSpeed2kmPh = 13000000;
const unsigned long HubAtZero = 1159448;

int max_rc = MAX_RC;
int mid = MIDDLE;
int min_rc = MIN_RC;
#define LED_PIN_OUT 
//==========================================================================================
void ISR_TURN_rise() {
  noInterrupts();
