   }
 
   // Draw the PWM signals one by one before continuing the loop
-  mobility_send_steering_pwm(1200);
+  mobility_send_steering_pwm(statevars.control_steering_pwm);
   mobility_send_throttle_pwm(SPEED_FWD_CREEP);
 
   // Record the data from the previous iteration

  iterations++;

  // If the button switched to the OFF position, then stop the mission
  if (!button_is_pressed()) {
  // Instead, stop the robot after a certain number of seconds
  //if (iterations > MISSION_TIMEOUT) {
    Serial.println("Finished collecting data!");
    sdcard_finish();


#include "doom.h"

#define MAINLOOP_PERIOD_TICKS   6249
#define MISSION_TIMEOUT         200

statevars_t statevars;
uint32_t iterations;
