   Serial.println(results[RC_GO]);
   if (liveBrake(results[RC_GO])){
     Serial.print("Braking: "); Serial.println(results[RC_GO]);
-    convertBrake ((results[RC_GO]));
+    brake(convertBrake(results[RC_GO]));
+  }
+  else {
+    brake(MIN_BRAKE_OUT);
   }
 
   //Accelerating

    delay(nextTime - endTime);
  } else {
    // Yes, we overran the expected loop interval. Extend the time.
    nextTime = endTime + 1000 * LOOP_TIME_MS;
  }
}
/*---------------------------------------------------------------------------------------*/

    will be used for emergency stop. D38 */
  results[RC_ESTP] = (results[RC_ESTP] > MIDDLE ? HIGH : LOW);

  if (results[RC_ESTP] == HIGH){
    Serial.println("Exiting processRC due to E-stop.");
    E_Stop();  // already done at interrupt level
    if ((results[RC_AUTO] == LOW)  && (NUMBER_CHANNELS > 5)) // under RC control
      ;//steer(results[RC_TURN]);
    return 0x00;
  }

