 const int IRPT_GO = 3;   //  D20 = Int 3 
 const int IRPT_RDR = 5;   // D18 = Int 5
 const int IRPT_ESTOP = 4; // D19 = Int 4
+//RC input values - pulse widths in microseconds
+const int DEAD_ZONE = 75;
+const int MIDDLE = 1380; 
+// extremes of RC pulse width
+const int MIN_RC = 960;
+const int MAX_RC = 1800;
 #endif
 //  D3 = Int 1  Wheel Click
 

    startCapturingRCState();
    
    unsigned long local_results[7];
//    PrintDone();

  while (micros() < nextTime &&
    ~((RC_Done[RC_ESTP] == 1) && (RC_Done[RC_GO] == 1) && (RC_Done[RC_TURN] == 1) && (RC_Done[RC_RDR] == 1)))

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

//#include <SoftwareSerial.h>
// On Mega, TX must use d10-15, d50-53, or a8-a15 (62-69)
const int softwareTx = 10;  // to 7 segment LED display
const int softwareRx = 7;   // not used
//SoftwareSerial s7s(softwareRx, softwareTx);
#define s7s Serial3

#define LOOP_TIME_MS 400
#define ERROR_HISTORY 20
