 // @ToDo: This has changed. Is it specific to some particular setup or trike?
 // If so, it should be moved to Settings.h.
 #define s7s Serial2
+Servo STEER_SERVO;
 
 #define LOOP_TIME_MS 400
-#define ERROR_HISTORY 20 //number of errors to accumulate 
+#define ERROR_HISTORY 20 //number of errors to accumulate
+#define TEN_SECONDS_IN_MICROS 10000000
 
 /*================ReadTurnAngle ================*/
 // @ToDo: Are these specific to a particular trike? If so, move them to Settings.h.


#include <SPI.h>
#include <Elcano_Serial.h>

//#include <SoftwareSerial.h>
// @ToDo: Are these specific to some particular setup or trike? If so,

float HubSpeed_kmPh;
const float  HubSpeed2kmPh = 13000000;
const unsigned long HubAtZero = 1159448;

int max_rc = MAX_RC;
int mid = MIDDLE;
int min_rc = MIN_RC;
#define LED_PIN_OUT 
//==========================================================================================
void ISR_TURN_rise() {
  noInterrupts();
