     Read compass.
     ReadINU.
     Set attitude.
-    Read Hall Odometer;
-    Read Optical Odometer;
+    Read Hall Odometer;  */
+//   IMU.Read(GPS_reading);   
+ 
+/*  Read Optical Odometer;
     Read lane deviation;  
     If (message from C4)
-    {
-      ReadState(C4);  // get new route and speed
-    }
+    { */
+//      readline(2);  // C4 Path planner on serial 2 get new route and speed
+ /*   }
     If (message from C3)
-    {
-      ReadDrive(C3);  // get commanded wheel spin and steering
-    }
+    { */
+//      readline(2);  // get C3 Pilot commanded wheel spin and steering
+/*    }
     if (landmarks availabe)
     {  // get the position based on bearing and angle to a known location.
       ReadLandmarks(C4); 

// waypoint mission[MAX_WAYPOINTS];
waypoint GPS_reading;
waypoint estimated_position;
const unsigned long LoopPeriod = 100;  // msec
//---------------------------------------------------------------------------
char* obstacleDetect()

{
  pinMode(GPS_POWER, OUTPUT);
  char* GPSString;
  char* protocol =  "$PSRF100,1,4800,8,1,0*0E"; // NMEA
  char* disable =   "$PSRF103,02,00,00,01*26\r\n";
  char* querryGGA = "$PSRF103,00,01,00,01*25";
  bool GPS_available = false;
  Serial3.begin(GPSRATE);   
  digitalWrite(GPS_POWER, LOW);         // pull low to turn on!
  Serial.flush();
  Serial3.flush();
  delay(5000);
  // prints title with ending line break 
  Serial.println(" GPS parser");  
//  Serial.print("Acquiring GPS RMC...");
  checksum(protocol);
  Serial3.println(protocol);
  disable[10] = '2';
  checksum(disable);
  Serial3.println(disable);   // no GSA

  GPS_available = estimated_position.AcquireGPRMC(70000);
  Serial.println(TimeHeader);
  Serial.println(StartTime);
