     int upStick = analogRead(AccelerateJoystick);
     int center  = analogRead(JoystickCenter);
     int sideStick = analogRead(SteerJoystick);
-    const int deadBandLow = 32;  // out of 1023
-    const int deadBandHigh = 32;
+    if (center < 420 || center > 460)
+    {
+      Serial.print(" Center: "); Serial.print(center);
+      Serial.print(" Up: "); Serial.print(upStick);
+      Serial.print(" Side: "); Serial.println(sideStick);
+      center = 446;
+   }
+    const int deadBandLow = 80;  // out of 1023
+    const int deadBandHigh = 80;
      //Calculate deadband info
      int tinyDown = center - deadBandLow;
      int tinyUp = center + deadBandHigh;
      
        //If stick did not move more than the "up"    deadband.
-  if (upStick <= tinyUp)  // 543
+  if (upStick <= tinyUp)  
   {
     //stick not outside deadBand
     Instrument[Motor].Joystick = 0;

//       }
//    }

#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;

           delayMicroseconds(100);             // analogRead takes 100 usec
       }
       int feedback = median_filter(feedbacks);
#ifdef DEBUG_M
       Serial.print("Feedback: ");
       Serial.print(feedback); Serial.print(", ");
#endif
