         Left_Min_Count = LEFT_MIN_COUNT;
         Left_Max_Count = LEFT_MAX_COUNT;
     }
-    Serial.print("CALIBRATE: Left Straight = "); Serial.print(LeftStraight_A3);
-     Serial.print("\tRight Straight = "); Serial.print(RightStraight_A2);
+//    Serial.print("\tCALIBRATE: Left Straight\t"); Serial.print(LeftStraight_A3);
+//    Serial.print("\tRight Straight\t"); Serial.println(RightStraight_A2);
     old_turn_degx1000 = 0; // straight
 }
 /*======================ReadTurnAngle======================*/

}
void LogData(unsigned long commands[7], SerialData *sensors)  // data for spreadsheet
{
     Serial.print(sensors->speed_cmPs); Serial.print("\t");
     Serial.print(sensors->speed_cmPs*36.0/1000.); Serial.print("\t"); // km/hr
     Serial.print(sensors->angle_deg); Serial.print("\t");

// ((WHEEL_DIAMETER_MM * 3142) / MIN_SPEED_mmPs)
// MinTickTime_ms = 9239 ms = 9 sec

long SpeedCyclometer_mmPs = 0;
// Speed in revolutions per second is independent of wheel size.
float SpeedCyclometer_revPs = 0.0;//revolutions per sec
