     // got data;    
     for (int i = 0; i < 8; i++)
         local_results[i] = RC_elapsed[i];
-    Print7(false, local_results);
+  Print7( false, local_results);
     processRC(local_results);
-//    Print7( true, local_results);
+    Print7( true, local_results);
   
     Results.Clear();
     Results.kind = MSG_SENSOR;

#define LOOP_TIME_MS 400
#define ERROR_HISTORY 20

// Distance the wheel outer circumference moves during one phase cycle.
const float WHEEL_PHASE_DISTANCE_MM = WHEEL_DIAMETER_MM * PI / MOTOR_POLE_PAIRS;
// Conversion factor from 1 / (motor phase cycle time in microseconds) to speed
// in km/h:
// There are MOTOR_POLE_PAIRS phase cycles per wheel rotation, so the time for
// one wheel rotation (based on a single phase cycle) is the duration of that
// phase cycle times the number of pole pairs.  Also, we want km / h rather
// than mm / usec.  Units conversion:
// speed measured in km / hr
// = (speed measured in mm / usec) * (km / 10^6 mm) * (3600 * 10^6 usec / hr)
// = (speed in mm / usec) * 3600
// = (wheel phase distance in mm / motor feedback cycle time in usec) * 3600
// = (wheel phase distance in mm * 3600) / (motor feedback cycle time in usec)
// The first part is a constant for a given motor and wheel diameter:
const float HUB_PHASE_TO_KMPH = WHEEL_PHASE_DISTANCE_MM * 3600;
// For a motor with 23 pole pairs and a 500 mm diameter drive wheel, this is
// about 245863.8.

/*================ReadTurnAngle ================*/
// Value measured at analog input A2 from right steering column when wheels pointed straight ahead.

      CalibrateTurnAngle(32, 20);
      calibrationTime_ms = millis();
      attachInterrupt(IRPT_TURN,  ISR_TURN_rise,  RISING);
      attachInterrupt(IRPT_RDR,   ISR_RDR_rise,   RISING);
      attachInterrupt(IRPT_GO,    ISR_GO_rise,    RISING);
      attachInterrupt(IRPT_ESTOP, ISR_ESTOP_rise, RISING);
      attachInterrupt(IRPT_RVS,   ISR_RVS_rise,   RISING);
//      Print7headers(false);
      PrintHeaders();
}

