            delayMicroseconds(100);             // analogRead takes 100 usec
        }
        int feedback = median_filter(feedbacks);
+#ifdef DEBUG
+       Serial.print("Feedback: ");
        Serial.print(feedback); Serial.print(", ");
+#endif
        return feedback;
   }
 } Instrument[3];

  else
  {
    //stick outside of deadband
    Instrument[Motor].Joystick = MinimumThrottle + (FullThrottle - MinimumThrottle)
      * (upStick - tinyUp) / (1023 - tinyUp);
    Instrument[Motor].StickMoved =  TRUE;
  }

  //Check if Stick moved beyond "down" deadBand

  Instrument[Motor].CurrentLimit = 230;  // about 20A
  Instrument[Brakes].CurrentLimit = 55;  // about 5A
  Instrument[Steering].CurrentLimit = 55;
  long counter = 0;
  /*
   do
   { 
      Instrument[Motor].go(MinimumThrottle);
      Instrument[Brakes].go(FullBrake);
      Instrument[Steering].go(Straight);
      counter++;
   } while ((abs( Instrument[Steering].Feedback - StraightFB) > Instrument[Steering].CloseEnough
         || abs( Instrument[Brakes].Feedback - FullBrakeFB) > Instrument[Brakes].CloseEnough
         || abs( Instrument[Motor].Feedback - 0) > Instrument[Motor].CloseEnough)
         && counter < 10000);
 */
  // Read quiesent state of current sensors.
  Instrument[Brakes].CurrentDraw =
    Instrument[Brakes].QuiescentCurrent = analogRead(CurrentBrake);
