 const int FullThrottle =  179;   // 3.5 V
 const int MinimumThrottle = 39;  // Throttle has no effect until 0.75 V
 
-const int FullBrake = 225;  // start with a conservative value; could go as high as 255;  
-const int MinimumBrake = 155; // start with a conservative value; could go as low as 127;
+const int FullBrake = 167;  // start with a conservative value; could go as high as 255;  
+const int NoBrake = 207; // start with a conservative value; could go as low as 127;
 
 const int HardLeft = 223; // was 159; // start with a conservative value; could go as high as 255;
 const int HalfLeft = 223; // was 159;

      moveSteer(Straight);    
    
}
int compareint (const void * a, const void * b)
{
  if ( *(int*)a <  *(int*)b ) return -1;
  if ( *(int*)a == *(int*)b ) return 0;
  if ( *(int*)a >  *(int*)b ) return 1;
}
int median_filter(int* readings)
// on entry, readings holds the 5 most recent readings.
// returned value is the median filter.
// readings[0] is oldest; readings[4] is newest
// on exit, all readings are shifted, with most recent reading in both [4] and [5]
{
  int sorted[5];
  for (int i = 0; i < 5; i++)
    sorted[i] = readings[i];
   qsort(sorted, 5, sizeof(int), compareint);
   for (int i = 0; i < 4; i++)
    readings[i] = readings[i+1];
  return sorted[2];

}
/*---------------------------------------------------------------------------------------*/ 
void initialize()

 
 // Mechanically adjust the brake cables so that the motion of the servo is appropriate
       int feedbacks[5];
       Serial.print(2*delaySmall);
       Serial.println(" Calibrate brakes");
       for (int i = NoBrake; i > FullBrake; i -= 15)
     {
       analogWrite(DiskBrake, i);
//       int current =  analogRead(CurrentBrake);
