            *amount = MIN_BRAKE_OUT; 
       brake (*amount);     
 }
+/*---------------------------------------------------------------------------------------*/
 void brake (int amount)
 {
       analogWrite(BRAKE_OUT_PIN, amount);

  attachInterrupt(IRPT_TURN, ISR_TURN_rise, RISING);
  interrupts();
}

void ISR_GO_fall() {
  noInterrupts();
  ProcessFallOfINT(RC_GO);

const int softwareTx = 10;  // to 7 segment LED display
const int softwareRx = 7;   // not used
//SoftwareSerial s7s(softwareRx, softwareTx);
#define s7s Serial2

#define LOOP_TIME_MS 400
#define ERROR_HISTORY 20 //number of errors to accumulate 

/*================ReadTurnAngle ================*/
// Value measured at analog input A2 from right steering column when wheels pointed straight ahead.
