   {
       ChangeBrake = -MaxBrakeChange;
   }
-  if (ChangeMotor > BigChange)
-  {
-      ChangeMotor = BigChange;
-  }
-  else if (ChangeMotor < -BigChange)
-  {
-      ChangeMotor = -BigChange;
+  ChangeMotor = TargetMotor - Servos[MOTOR].OutputValue;
+  int EffectiveMotorChange = ChangeMotor > 0?
+      min(TargetMotor, MotorFull) - max(MotorMin, Servos[MOTOR].OutputValue):
+      min(Servos[MOTOR].OutputValue, MotorFull) - max(MotorMin, TargetMotor);
+  if (EffectiveMotorChange > MaxMotorChange)
+  {
+      ChangeMotor = MaxMotorChange;
+  }
+  else if (EffectiveMotorChange < -MaxMotorChange)
+  {
+      ChangeMotor = -MaxMotorChange;
   }
   Servos[BRAKE].OutputValue += ChangeBrake;
   Servos[BRAKE].OutputValue = max(BrakeOn /*128 */, Servos[BRAKE].OutputValue);

  {
      ChangeBrake = (ChangeBrake>0)? 2: -2;
  }
  else if (ChangeBrake > MaxBrakeChange)
  {
      ChangeBrake = MaxBrakeChange;
  }

 Quiescent current calculation works on brake and steer; motor current seems high.
 Steering servo works. Steering limits have been set and linkage reattached.
 Wrote routines to ease back on servo requests when too much current is drawn.
 Phsically put everything back together.
 Test all systems on test stand.

 To Do:
 Joystick Center is not read properly. See 2.38V at joystick for center; that voltage does not make it
 to analog input pin 8; continuity problem? Problem bypassed by setting a wide deadband.
 Motor gives jerky response at low speeds; need to smooth it out.
 Brake pusher rod sometimes slips off lever.
 Do a road test.
 Shoot a video and post it.
 */
