         Instrument[Motor].SignalPin = TractionMotor;
         Instrument[Motor].FeedbackPin = FeedbackMotor;
         Instrument[Motor].CurrentPin = Current36V;
-        Instrument[Motor].StepSize = 20; // max from range of 4095.
+        Instrument[Motor].StepSize = 20; // max from range of 1023.
         Instrument[Motor].CloseEnough = 1000;  // no feedback
         Instrument[Motor].Stuck = 3;
+        Instrument[Motor].MinPosition = 85;  // anolog read range is 0 to 1023
+        Instrument[Motor].MaxPosition = 800;
+        
         
         Instrument[Steering].EnablePin = EnableSteer;
         Instrument[Steering].SignalPin = Steer;
         Instrument[Steering].FeedbackPin = FeedbackSteer;
         Instrument[Steering].CurrentPin = CurrentSteer;
         Instrument[Steering].StepSize = 20;
-        Instrument[Motor].CloseEnough = 1;
-        Instrument[Motor].Stuck = 3;
+        Instrument[Steering].CloseEnough = 1;
+        Instrument[Steering].Stuck = 3;
+        Instrument[Steering].MinPosition = 85;  // anolog read range is 0 to 1023
+        Instrument[Steering].MaxPosition = 800;
         
         Instrument[Brakes].EnablePin = EnableBrake;
         Instrument[Brakes].SignalPin = DiskBrake;
         Instrument[Brakes].FeedbackPin = FeedbackBrake;
         Instrument[Brakes].CurrentPin = CurrentBrake;
-        Instrument[Brakes].StepSize = 20;
-        Instrument[Motor].CloseEnough = 1;
-        Instrument[Motor].Stuck = 3;
+        Instrument[Brakes].StepSize = 50;
+        Instrument[Brakes].CloseEnough = 1;
+        Instrument[Brakes].Stuck = 3;
+        Instrument[Brakes].MinPosition = 85;  // anolog read range is 0 to 1023
+        Instrument[Brakes].MaxPosition = 800;
       
         Instrument[Motor].Feedback = 
           analogRead(Instrument[Motor].FeedbackPin);

     int StickMoved;  // bool
     int Joystick;   // position of stick
     int LastCommand;  // last commanded
     int Feedback;   // actual position
     int EnablePin;
     int SignalPin;
     int FeedbackPin;
     int CurrentPin;
     int CloseEnough;  // in counts; Try for 0-4095
     int Stuck;        // max number of time steps for not getting to position
     int StepSize;     // controls how quickly the servo moves. 2"/sec servo max
     int QuiescentCurrent;  // Nominally 120 counts

 // make loop faster
 // limit servo motion during loop to step size 
  unsigned long fred = millis();  
//  Serial.print(fred - TimeNow);
//  Serial.print(",");
  do  //  Delay so that loop is not faster than 10 Hz.
  {
    EndTime = millis();
  } while (EndTime < NextLoopTime_ms);
//  Serial.print(EndTime - fred);
//  Serial.print(",");
//  Serial.print(NextLoopTime_ms);
//  Serial.print(",");
//  Serial.println(OutsideTime);
 

} 
