         
         Instrument[Steering].EnablePin = EnableSteer;
         Instrument[Steering].SignalPin = Steer;
-        Instrument[Steering].FeedbackPin = FeedbackSteer;
+        Instrument[Steering].FeedbackPin = SteerFB;
         Instrument[Steering].CurrentPin = CurrentSteer;
         Instrument[Steering].StepSize = 20;
         Instrument[Steering].CloseEnough = 1;

     analogWrite(DiskBrake, i);
     for (int d = 0; d < Delay_ms; d++)
     {
       int feedback = analogRead(FeedbackBrake);
//       int current =  analogRead(CurrentBrake);
       delay(1);
       Serial.print(d); Serial.print(", ");

const int Off = 0;
const int FullThrottle =  179;   // 3.5 V
const int MinimumThrottle = 39;  // Throttle has no effect until 0.75 V

const int FullBrake = 225;  // start with a conservative value; could go as high as 255;  
const int MinimumBrake = 155; // start with a conservative value; could go as low as 127;

const int HardLeft = 159; // start with a conservative value; could go as low as 127;
const int HalfLeft = 159;
const int Straight = 191;
const int HalfRight = 223;
const int HardRight = 223; // start with a conservative value; could go as high as  255;
/*  Elcano Servo range is 50 mm for brake, 100 mm for steering.

    Elcano servo has a hardware controller that moves to a
