   return new_turn_degx10;
 }
 /*---------------------------------------------------------------------------------------*/
+// @ToDo: Is this a work in progress?
 void newThrottlePID(){
   
 }

    Calibration will block any response to controls; there will be no turning or movemnet during calibration.
    Angle sensors can drift, and should periodically be zeroed.
*/
void CalibrateTurnAngle(int count, int pause)
{
  int totalRight = 0;
  int totalLeft = 0;
  int i, left, right;
  for (i = 0; i < count; i++)
  {
    totalRight += analogRead(A2);
    totalLeft += analogRead(A3);
    delay(pause);
  }
  right = totalRight / count;
  left  = totalLeft  / count;
  // Only recalibrate when instruments are reasonable
  // Do not make garbage readings the new normal.
  if (RIGHT_MIN_COUNT <= right && right <= RIGHT_MAX_COUNT)
  {
    RightStraight_A2 = right;
    Right_Min_Count = RightStraight_A2 - 60;   // 60 counts is 20 degrees
    Right_Max_Count = RightStraight_A2 + 60;
  }
  else
  {
    RightStraight_A2 = RIGHT_MIN_COUNT + (RIGHT_MAX_COUNT - RIGHT_MIN_COUNT) / 2 ;
    Right_Min_Count = RIGHT_MIN_COUNT;
    Right_Max_Count = RIGHT_MAX_COUNT;
  }
  if  (LEFT_MIN_COUNT  <= left  && left  <= LEFT_MAX_COUNT)
  {
    LeftStraight_A3  = left;
    Left_Min_Count  = LeftStraight_A3  - 60;
    Left_Max_Count  = LeftStraight_A3  + 60;
  }
  else
  {
    LeftStraight_A3  = LEFT_MIN_COUNT + (LEFT_MAX_COUNT - LEFT_MIN_COUNT) / 2 ;
    Left_Min_Count = LEFT_MIN_COUNT;
    Left_Max_Count = LEFT_MAX_COUNT;
  }
  //    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======================*/
int TurnAngle_degx10()

#define LOOP_TIME_US 400
#define ERROR_HISTORY 20 //number of errors to accumulate
#define TEN_SECONDS_IN_MICROS 10000000
#define ULONG_MAX 4294967295

/*================ReadTurnAngle ================*/
// @ToDo: Are these specific to a particular trike? If so, move them to Settings.h.
