     stoppedTime_ms = (throttle_control == MIN_ACC_OUT)? stoppedTime_ms + LOOP_TIME_MS: 0;
     if (calibrationTime_ms > 40000 && straightTime_ms > 3000 && stoppedTime_ms > 3000)
     {
-         int oldBrake = brake_control;
-         brake(MAX_BRAKE_OUT);  // put on brakes
+//       int oldBrake = brake_control;
+//       brake(MAX_BRAKE_OUT);  // put on brakes
          CalibrateTurnAngle(16, 10);  // WARNING: No response to controls while calibrating
-         brake(oldBrake);       // restore brake state
+//       brake(oldBrake);       // restore brake state
          calibrationTime_ms = 0;
     }
     

    startCapturingRCState();
    
    unsigned long local_results[7];
//    PrintDone();

  while (micros() < nextTime &&
    ~((RC_Done[RC_ESTP] == 1) && (RC_Done[RC_GO] == 1) && (RC_Done[RC_TURN] == 1) && (RC_Done[RC_RDR] == 1)))

    long min_ang, max_ang;
    bool OK_right = false;
    bool OK_left = false;
    int right = analogRead(A2);
    int left = analogRead(A3);
//    Serial.print("Left"); Serial.print("\t"); Serial.print(left);
//    Serial.print("\tRight"); Serial.print("\t"); Serial.print(right);
//    Serial.print("LeftStraight_A3"); Serial.print("\t"); Serial.print(LeftStraight_A3);
//    Serial.print("\tRightStraight_A2"); Serial.print("\t"); Serial.print(RightStraight_A2);
    if ((Right_Min_Count <= right) && (right <= Right_Max_Count))
       OK_right = true;    
    if ((Left_Min_Count <= left) && (left <= Left_Max_Count))
       OK_left = true;    
    long right_degx1000 = (right - RightStraight_A2) * RIGHT_DEGx1000pCOUNT;  
    long left_degx1000  = (left -  LeftStraight_A3) *  LEFT_DEGx1000pCOUNT;  
//    Serial.print("Left"); Serial.print("\t"); Serial.print(left_degx1000);
//    Serial.print("\tRight"); Serial.print("\t"); Serial.print(right_degx1000);
 
    expected_turn_degx1000 = old_turn_degx1000; 
    if (OK_left && OK_right)
