         potVal = map(potVal, 0, 1023, 0, 190); // Potentiometer has range of +- 95 degrees        
         // Calculate steering angle (-95 to 95, because the pot has 190 degrees of sweep after pulley ratio)
         // Pot centered on steering angle of 0
+        potVal -=95;
         steerAngle = potVal;
-        potVal-=95;
 
 // Calculate max speed
         if (maxSpeed<(GPS.speed*(1.15078+speedoCal))){

// Set the pins used
	#define chipSelect 10
	#define ledPin 25
        #define potPin 14
        #define buttonPin 12
	#define numPixels 7


        acc.enableAutoRange(true);

// Set pin modes
	pinMode(chipSelect, OUTPUT);    

//Initialize smoothing variables
          for (int thisReading = 0; thisReading < numGaReadings; thisReading++)
