   motor_controller_acceleration =
     ros_param_helper.getParam("motor_controller_acceleration", 10);
 
+  fob_threshold = 
+    ros_param_helper.getParam("fob_threshold", 2000);
+    
   ticks_per_radian = 
     ros_param_helper.getParam("victoria_ticks_per_radian", 9072);
 

  
  switch(fob_stop_to_check) {
    case 1:
      return (digitalRead(FOB_STOP_1_PIN) == LOW);
      
    case 2:
      return (digitalRead(FOB_STOP_2_PIN) == LOW);
      
    case 3:
      return (digitalRead(FOB_STOP_3_PIN) == LOW);
      
    case 4:
      return (digitalRead(FOB_STOP_4_PIN) == LOW);
      
    default:
      return false;

// indicates which fob to check.
byte fob_mode(0);

// PWM threshold that a "fob" will be considered activated.
unsigned int fob_threshold(2000);

// Victoria configuration
double ticks_per_radian;
double track_radius;  // in meters
