         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
-        steerAngle = (potVal-95);
+        steerAngle = potVal;
+        potVal-=95;
 
 // Calculate max speed
         if (maxSpeed<(GPS.speed*(1.15078+speedoCal))){

        double fXm = 0;
        double fYm = 0;
        double fZm = 0;
	Adafruit_NeoPixel pixels = Adafruit_NeoPixel(numPixels, ledPin, NEO_GRB + NEO_KHZ800);
        
// Create the Kalman instances
// From http://www.tkjelectronics.com
        Kalman kalmanX; 
        Kalman kalmanY;
        
// Variables for smoothing. Raising numReadings makes smoothing more aggressive. 
	const int numGaReadings = 3;
	const int numBaReadings = 3;
	const int numGdReadings = 3;

	int mhAverage = 0;                // the average
	int tmAverage = 0;                // the average

        // Accel calibration for calculating G Force - using simple calibration method       
	int xRawMin = -121.85;
	int xRawMax = 121.85;
	int yRawMin = -119.75;
