      int left = analogRead(A3);
      Serial.print(right); Serial.print("\t");
      Serial.print(left); Serial.print("\t");
-     Print7 (true, commands);
-}
-
+     Serial.print(throttle_control); Serial.print("\t");
+     Serial.print(brake_control); Serial.print("\t");
+     Serial.print(steer_control); Serial.print("\t");
+     Serial.println(Odometer_m);
+//     Print7 (true, commands);
+}
+void PrintHeaders (void)
+{
+    Serial.print("(ms) Time\t");
+    Serial.print("(cm/s) Speed\t");
+    Serial.print("(km/h) Speed\t");
+    Serial.print("(deg) Angle\t");
+    Serial.print("Right\t");
+    Serial.print("Left\t");
+    Serial.print("Throttle\t");
+    Serial.print("Brake\t");
+    Serial.print("Steer\t");
+    Serial.println("(m) Distance");
+}
 void startCapturingRCState()
 {
   for (int i = 1; i < 7; i++) {

      attachInterrupt(IRPT_GO,    ISR_GO_rise,    RISING);
      attachInterrupt(IRPT_ESTOP, ISR_ESTOP_rise, RISING);
      attachInterrupt(IRPT_RVS,   ISR_RVS_rise,   RISING);
      Print7headers(false);
}

void loop() {

// ((WHEEL_DIAMETER_MM * 3142) / MIN_SPEED_mmPs)
// MinTickTime_ms = 9239 ms = 9 sec

long SpeedCyclometer_mmPs = 0;
// Speed in revolutions per second is independent of wheel size.
float SpeedCyclometer_revPs = 0.0;//revolutions per sec
