         
         CalibrateBrakes();
         
-        CalibrateSteering();
+//        CalibrateSteering();
 }	
 
 /*---------------------------------------------------------------------------------------*/ 

//========================================================================
void SteerWrite(int i, int Delay_ms)
{
     analogWrite(Steer, i);
     for (int d = 0; d < Delay_ms; d++)
     {
 //      int feedback = analogRead(BrakeFB);
 //      int current =  analogRead(CurrentBrake);
       Serial.print(d); Serial.print(", ");
       Serial.print(i); Serial.print(", ");
//       Serial.print(feedback); Serial.print(", ");

 // Use the serial monitor, and save the results for analysis.
 
 // Mechanically adjust the brake cables so that the motion of the servo is appropriate
       int feedbacks[5];
       Serial.println("Calibrate brakes");
       for (int i = MinimumBrake; i < FullBrake; i += 10)
     {
       analogWrite(DiskBrake, i);
//       int current =  analogRead(CurrentBrake);
       delay(95);  // allow tiime for brake to respond
       feedbacks[0] = analogRead(BrakeFB);
       delay(1);
       feedbacks[1] = analogRead(BrakeFB);
       delay(1);
       feedbacks[2] = analogRead(BrakeFB);
       delay(1);
       feedbacks[3] = analogRead(BrakeFB);
       delay(1);
       feedbacks[4] = analogRead(BrakeFB);
       int feedback = median_filter(feedbacks);
       // feedback signal may have glitches; use of a 5 point median filter is recommended.
       Serial.print(i); Serial.print(", ");
//       Serial.print(current); Serial.print(", ");
