 // turning and sets steeringAngle plus or minus the STEER_UNIT accordingly
 void steer_inter_1()
 {
-  inter_1_state = digitalRead(21);
+  inter_1_state = digitalRead(STEER_PIN_1);
   if (inter_2_state)
   {
     if(inter_1_state)

    applyBrake();
}

void brakeState()
{
  brake_state = !brake_state;

      steeringAngle = steeringAngle + STEER_UNIT;
    else
      steeringAngle = steeringAngle - STEER_UNIT;
  }
 
//  cmdMessenger.sendCmd(kACK,);  
}   

void steer_inter_2()
{
  inter_2_state = digitalRead(STEER_PIN_2);
  if (inter_1_state)
  {
    if(inter_2_state)
