 const int CYCLE_MAX = 25000;  // Pulses come at 42.27 Hz, every 21155 us
 const int MAX_PULSE = 4000; // Next pulse should be no longer than this time from last.
 
-//OUTPUT values -  0 to 255
-const int MIN_ACC_OUT = 40;
-const int MAX_ACC_OUT = 227;
-const int MIN_BRAKE_OUT = 167;
-const int MAX_BRAKE_OUT = 207;
-const int LEFT_TURN_OUT = 126;
-const int RIGHT_TURN_OUT = 250;
-const int STRAIGHT_TURN_OUT = 187;
 
 //ARDUINO PIN SELECTORS
 const int RC_STEER_PIN = 44; // Input from RC // was 2;

          digitalWrite(SelectCD,HIGH);
      }
}

          RC_results[i] = INVALID_DATA;
      rc_state = RC_WAIT;
          
    attachInterrupt(Signals[0], ISR1_rise, RISING);
    attachInterrupt(Signals[1], ISR2_rise, RISING);
    attachInterrupt(Signals[2], ISR3_rise, RISING);
    attachInterrupt(Signals[3], ISR4_rise, RISING);
    attachInterrupt(Signals[4], ISR5_rise, RISING);
    attachInterrupt(Signals[5], ISR6_rise, RISING);
}
void loop() {
    unsigned long Start_us = micros();
    
    startCapturingRCState();
    
    unsigned long local_results[7];
    while (!(RC_Done[2] == 1&& RC_Done[3] == 1&& RC_Done[4] == 1&& RC_Done[5] == 1&& RC_Done[6] == 1))
    ;
    // got data;    
    rc_state = RC_WAIT;  // ignore pulses on data line.
    for (int i = 0; i < 8; i++)
