 	
 	unsigned long tick_now = odometer_tick;
 	
+	speed_control_update(dt, tick_now - last_odometer_tick);
+
 	last_odometer_tick = tick_now;
 	last_odometer_update = now;
 }

unsigned long last_odometer_update;
unsigned long last_odometer_tick;

static const int odometer_update_period = 10; // milliseconds

static void
odometer_interrupt()

	throttle_servo.write(throttle);
}

static void
set_steer(int steer)
{
	steer += steer_offset;
