 
 void loop()
 {
-  const unsigned long pause = 500; // msec
   unsigned long time = millis();
-  unsigned long endTime = time + pause;
+  unsigned long endTime = time + LoopPeriod;
 
 // Read joy stick and 3 switches; Send stick to enabled servos.
   int  n;

     TargetMotor = MotorOff;
     TargetBrake = BrakeOff + (throttle + 84) / 3;
  }
  else if (throttle < 84)
  {  // deadband
     TargetMotor = MotorOff;
     TargetBrake = BrakeOff;
  }
  else 
  {
    TargetBrake = BrakeOff;
    TargetMotor = MotorMin + (throttle - 84) / 2;
  }
  ChangeBrake = TargetBrake - Servos[BRAKE].OutputValue;
  ChangeMotor = TargetMotor - Servos[MOTOR].OutputValue;
  if (Servos[BRAKE].mAmp > 4700)
  { // ease back to keep from blowing fuse
      ChangeBrake = (ChangeBrake > 0)? -2: 2;
  }

  {
      ChangeBrake = (ChangeBrake>0)? 2: -2;
  }
  else */
  if (ChangeBrake > MaxBrakeChange)
  {
      ChangeBrake = MaxBrakeChange;
  }
