 const int HalfRightFB = 303;
 const int HalfLeftFB = 760;
 const int TopSpeed_degPs = 1800;
-const int FullBrakeFB = 760;  // need to get a real value
-const int MinimumBrakeFB = 303;  // need to get a real value
+const int FullBrakeFB = 375;  // Extrapolated 5/23/13
+const int NoBrakeFB = 679;  // Observed 5/23/13
 
 // Joystick limits
 const int limitStickUp = 893;  // observed
-const int limitStickDown = 150;  // guess
+const int limitStickDown = 100;  // observed 0; but make everything from 0 to 100 full brake.
 const int limitStickLeft = 900;  // guess
-const int limitStickRight = 150; // guess
+const int limitStickRight = 100; // guess
 
 /* There is hysteresis on steering.
   E.g. Move to the left until PWM 223, getting FB of 760.

//       }
//    }

#ifdef DEBUG
    //debug prints. 
    Serial.print(desired_position); 
    Serial.print(", ");
    Serial.print(Feedback); 
    Serial.print(", ");
    Serial.print(desired_position); 
    Serial.print(", ");
    Serial.println(TimeNow_usec);
#endif
    LastTime_usec = TimeNow_usec;
    LastFeedback = Feedback;

#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
const int FullThrottle =  227;   // 3.63 V
const int MinimumThrottle = 70;  // Throttle has no effect until 1.2 V
// Values to send on PWM to get response of actuators
const int FullBrake = 167;  // start with a conservative value; could go as high as 255;  
const int NoBrake = 207; // start with a conservative value; could go as low as 127;
// Steering
const int HardLeft = 223; // was 159; // start with a conservative value; could go as high as 255;
const int HalfLeft = 223; // was 159;
