 	msg_poll();
 	odometer_poll();
 }
+

	Serial.println();
}

void
set_stop()
{

}

void
set_speed(int speed)
{

}

void
set_throttle(int throttle)
{
	speed_control_enabled = false;

	throttle += throttle_offset;
	if (throttle < 0 || throttle > 180)

unsigned long last_odometer_update;
unsigned long last_odometer_tick;

static const int odometer_update_period = 100; // milliseconds

static void
update_throttle(int current_speed, int target_speed)
{
	int throttle = 0; 

	throttle += throttle_offset + 90 +
	throttle_servo.write(throttle);
}

static void
speed_control_update(unsigned long dt, unsigned long ticks)
{
	switch (speed_control_state)
	{
	case SPEED_CONTROL_DISABLED:
		return;

	case SPEED_CONTROL_STOPPED:
		return;

	case SPEED_CONTROL_STOPPING:
		return;

	case SPEED_CONTROL_DRIVING:
		return;

	case SPEED_CONTROL_REVERSING:
		return;
	}
}

static void
odometer_interrupt()
