 
   attachInterrupt(STEER_INTER_1, steer_inter_1, CHANGE); 
   attachInterrupt(STEER_INTER_2, steer_inter_2, CHANGE);
-  attachInterrupt(STEER_INTER_G, steer_inter_180, RISING);
+//  attachInterrupt(STEER_INTER_G, steer_inter_180, RISING);
   steer.attach(STEER_PIN);
   steeringAngle = 0.0;
   
-  attachInterrupt(BRAKE_ON_PIN, brakeState, RISING);
-  attachInterrupt(BRAKE_OFF_PIN, brakeState, RISING);
+  //attachInterrupt(BRAKE_ON_PIN, brakeState, RISING);
+  //attachInterrupt(BRAKE_OFF_PIN, brakeState, RISING);
+  
   brake.attach(BRAKE_PIN);
   
   steer.writeMicroseconds(1500);

// turning and sets steeringAngle plus or minus the STEER_UNIT accordingly
void steer_inter_1()
{
  inter_1_state = digitalRead(21);
  if (inter_2_state)
  {
    if(inter_1_state)

int intbuf;
int i = 0;
int currentSpeed = 0;
char buffer[6];


// Mustnt conflict / collide with our message payload data. Fine if we use base64 library ^^ above
