 int max_rc = MAX_RC;
 int mid = MIDDLE;
 int min_rc = MIN_RC;
+#define LED_PIN_OUT 16
 //==========================================================================================
 void ISR_TURN_rise() {
   noInterrupts();

    float turnDist = TURN_RADIUS_CM * PI / 2 * 10; //turnDist == 1/4 turn circumference in mm
    long turnSec = (long)turnDist / turnSpeed * 1000; //turnSec == time for 90-degree turn at 1250 mm/s

    while (millis() < (loopTime + turnSec)) {
      Throttle_PID(turnSpeed);
    }

    processHighLevel(&Results);
  //    Print7( true, local_results);

  Results.Clear();
  Results.kind = MSG_SENSOR;
  Results.angle_deg = TurnAngle_degx10() / 10;
  //show_speed (&Results);

  // Report how long the loop took.
  unsigned long endTime = micros();
