       
       */
       // change the voltage on this channel from min to max:
-      for (int level = 70; level < 200; level+=4) 
+      for (int level = MinimumThrottle; level < FullThrottle/2; level+=4) 
       {
         DAC_Write(channel, level);
         Serial.print(SpeedCyclometer_degPs); Serial.print(", ");
         Serial.println(level);
-        delay(3000);
+        delay(pause);
       }
-      // wait a second at the top:
-      delay(1000);
+      // wait at the top:
+      delay(pause);
       // change the voltage on this channel from max to min:
-      for (int level = 200; level > 70; level-=4) 
+      for (int level = FullThrottle/2; level > MinimumThrottle; level-=4) 
       {
         DAC_Write(channel, level);
         Serial.print(SpeedCyclometer_degPs); Serial.print(", ");
         Serial.println(level);
-        delay(3000);
+        delay(pause);
       }
  }    
 

    int upStick = analogRead(AccelerateJoystick);
    int center  = analogRead(JoystickCenter);
    int sideStick = analogRead(SteerJoystick);
    const int deadBandLow = 32;  // out of 1023
    const int deadBandHigh = 32;
     //Calculate deadband info
     int tinyDown = center - deadBandLow;
     int tinyUp = center + deadBandHigh;
     
       //If stick did not move more than the "up"    deadband.
  if (upStick <= tinyUp)  // 543
  {
    //stick not outside deadBand
    Instrument[Motor].Joystick = 0;

           delayMicroseconds(100);             // analogRead takes 100 usec
       }
       int feedback = median_filter(feedbacks);
#ifdef DEBUG_M
       Serial.print("Feedback: ");
       Serial.print(feedback); Serial.print(", ");
#endif
