      Serial.print(" FB: "); Serial.print(Instrument[Brakes].Feedback);
      Serial.print(" Brakes: "); Serial.print(desired_position);
   }
-//  Instrument[Brakes].go(desired_position);
+  Instrument[Brakes].go(desired_position);
 
   
  // apply steering

        initialize();
     
//  twitch moves Motor, Brakes and Steering.  5/23/13  TCF        
       twitch();
     BrakeOff();
     Serial.println("Initialized");
     

#define FALSE 0
#endif
#define MEG 1000000
//#define DEBUG 1
//#define DEBUG_M 2

volatile int SpeedCyclometer_degPs;  // 20 mph is about 2000 deg / sec
// Values to send over DAC
