 }
 void RampTest()
 {
-  int Position[3];
-
-  while ( true) // i < i_max; i += i_step)
-  {
-    for (int i = 0; i< 3 i++);
+  static int Position[] ={ 0, 0, 0};
+    for (int i = 0; i< 3; i++)
     {
        if( digitalRead(Instrument[i].EnablePin) == HIGH)
        {
            if (abs(Instrument[i].move(Position[i]) - Position[i]) < Instrument[i].CloseEnough)
              Position[i] = Position[i]? 0: 4095;
+          Serial.print(i); Serial.print(", ");
+          Serial.print(Position[i]); Serial.print(", ");
+          
        }
     }
-  }
+ 
 }
 
 /*---------------------------------------------------------------------------------------

  static unsigned long OutsideTime;
  
  OutsideTime = EndTime - TimeNow;
#ifdef TEST_MODE
//  testSwitches();
//  testRamp();

#else  // not TEST_MODE
 
  JoystickMotion();
  StateTransition(Motor);
  StateTransition(Brakes);
  StateTransition(Steering);
