 
 #include <SPI.h>
 #include <Elcano_Serial.h>
+#include <Servo.h>
 
 //#include <SoftwareSerial.h>
 // On Mega, TX must use d10-15, d50-53, or a8-a15 (62-69)

{   
    // 1st pulse is aileron (position 5 on receiver; controlled by Right left/right joystick on transmitter)
    //     used for Steering
    int aileron = results[RC_TURN];
//    Serial.print("\tTurn input "); Serial.print(aileron);
    results[RC_TURN] = convertTurn(aileron);
//    Serial.print("\tTurn Cmd "); Serial.println(results[RC_TURN]);   

      CalibrateTurnAngle(32, 20);
      calibrationTime_ms = millis();
      attachInterrupt(digitalPinToInterrupt(IRPT_TURN), ISR_TURN_rise,  RISING);
      //attachInterrupt(digitalPinToInterrupt(IRPT_RDR), ISR_RDR_rise,   RISING);
      attachInterrupt(digitalPinToInterrupt(IRPT_GO), ISR_GO_rise,    RISING);
      attachInterrupt(digitalPinToInterrupt(IRPT_ESTOP), ISR_ESTOP_rise, RISING);
      //attachInterrupt(digitalPinToInterrupt(IRPT_RVS), ISR_RVS_rise,   RISING);
      attachInterrupt(digitalPinToInterrupt(IRPT_SWITCH), ISR_SWITCH_rise,   RISING);
      //calibrateRC(micros());

//      Print7headers(false);
      //PrintHeaders();
      //circleRoutine(10);
}

void loop() {
