        delay(900);   // hold each brake position 1 second.
      }
 }
-/*---------------------------------------------------------------------------------------*/ 
-void CalibrateSteering()
-{
-  // This routine establishes the correct values for HardLeft, HardRight, Straight, etc.
-  // Verify that the values for left are those that turn the vehicle to the let.
-  // It allows us to establish the constants to map the feedback to the commanded position.
-  
-  // PWM signal is only effective from 127 to 255.
-  // Some of the extreme values produce no motion in an unattached servo.
-  // When the servo is atached to the steering link, pushing too hard can draw too much power and blow a fuse.
-  
-  // Perform this test first with an unattached servo.
-  // Repeat with an attached servo.
-  
- // It would be a good idea to put an ammeter on the steering servo to verify that excess current is not being drawn;
- // In case current gets too high, abort by unplugging the servo.
-  // Use the serial monitor, and save the results for analysis.
-  
-  // Mechanically position the steering link so that servo motion half-way between extremes is straight ahead.
-
+void moveSteer(int i)
+{
        int feedbacks[5];
-       Serial.println("Calibrate steering");
-       for (int i = HardLeft; i < HardRight; i += 10)
-     {
        analogWrite(Steer, i);
 //       int current =  analogRead(CurrentBrake);
        delay(95);  // allow tiime for steer to respond

        pinMode(CruiseThrottle, INPUT);
        pinMode(CruiseBrake, INPUT); 
        pinMode(CruiseSteer, INPUT);
#ifdef MEGA
        pinMode(Current36V, INPUT);
        pinMode(CurrentBrake, INPUT);
        pinMode(CurrentSteer, INPUT);

  unsigned long NextLoopTime_ms = TimeNow + STEP_SIZE_ms;
  static unsigned long EndTime = 0;
  static unsigned long OutsideTime;
  int center;
  
  return;
  
  OutsideTime = EndTime - TimeNow;
  Instrument[Motor].Enabled = digitalRead(EnableThrottle);
  Instrument[Brakes].Enabled = digitalRead(EnableBrake);
  Instrument[Steering].Enabled = digitalRead(EnableSteer);

   // ServoData();
   
 

 // TODO: Check out loop speed;
 // make loop faster
 // limit servo motion during loop to step size 
