 #if (VEHICLE_NUMBER == 2)
 
 //OUTPUT values -  0 to 255
-#define MIN_ACC_OUT 40
+#define MIN_ACC_OUT 50
 #define MAX_ACC_OUT 227
-#define MIN_BRAKE_OUT 180
-#define MAX_BRAKE_OUT 250
+#define MIN_BRAKE_OUT 210
+#define MAX_BRAKE_OUT 254
 #define RIGHT_TURN_OUT 146 // Original value 146
 #define LEFT_TURN_OUT 223 // Original value 230
 #define STRAIGHT_TURN_OUT 182 // Original value 187

            }
            else
            {  // accelerating; should get new data soon
                if(data->nowTime_ms - data->oldTime_ms > MaxTickTime_ms)
                {  // too long without getting a tick
                    SpeedCyclometer_mmPs = 0;
                    SpeedCyclometer_revPs = 0;
                }
            }
        }

   interrupts();
   
   ComputeSpeed (&history);
   PrintSpeed(&history);
    
    Odometer_m += (float)(LOOP_TIME_MS * SpeedCyclometer_mmPs) / MEG;
// Since Results have not been cleared, angle information will also be sent.
