     unsigned long local_results[7];
 //  PrintDone();
 
-  // ToDo: Refactor this to not have a spinloop.
-  // We get three signals from the RC controller in turn, one each for RC_ESTP,
-  // RC_GO, and RC_TURN. The three signals are sent separately. We get triples of
-  // new RC values at about 30Hz, which is faster than the loop runs. It doesn't
-  // really matter if we are using exactly the latest value, as there isn't much
-  // change between one an the next, except for ESTP, and if we wait til the next
-  // loop pass for that, it should be ok. So just have the interrupt routines read
-  // the RC information and store it, then the loop can use the latest values.
-  // It should check that it has received any values, since the Arduino may be
-  // started before the RC controller is turned on.
   while (micros() < nextTime &&
     ~((RC_Done[RC_ESTP] == 1) && (RC_Done[RC_GO] == 1) && (RC_Done[RC_TURN] == 1) ))
     ;  //wait

const int IRPT_RVS = 0;   // D2  = Int 0 
const int IRPT_TURN = 2;  // D21 = Int 2 
const int IRPT_GO = 3;   //  D20 = Int 3 
// RDR (rudder) is not used. Instead, use this interrupt for the motor phase
// feedback, which gives speed.
const int IRPT_RDR = 5;   // D18 = Int 5
const int IRPT_ESTOP = 4; // D19 = Int 4
//RC input values - pulse widths in microseconds
const int DEAD_ZONE = 75;

      CalibrateTurnAngle(32, 20);
      calibrationTime_ms = millis();
      attachInterrupt(IRPT_TURN,  ISR_TURN_rise,  RISING);
      attachInterrupt(IRPT_RDR,   ISR_RDR_rise,   RISING);
      attachInterrupt(IRPT_GO,    ISR_GO_rise,    RISING);
      attachInterrupt(IRPT_ESTOP, ISR_ESTOP_rise, RISING);
      attachInterrupt(IRPT_RVS,   ISR_RVS_rise,   RISING);
//      Print7headers(false);
      PrintHeaders();
}

