 void setup()
 {
     //Set up pin modes and interrupts, call serial.begin and call initialize.
-    Serial.begin(19200);
+    Serial.begin(9600);
     
     // SPI: set the slaveSelectPin as an output:
     pinMode (SelectAB, OUTPUT);

}
/*---------------------------------------------------------------------------------------*/ 



 // apply steering
#ifdef STEER_RAMP
    SteerPosition += SteerIncrement;
    if (SteerPosition > HardLeft || SteerPosition < HardRight)
        SteerIncrement = -SteerIncrement;
    moveSteer(SteerPosition);
#endif  // Steer_RAMP
  outputToSerial();
}
