diff --git a/.gitignore b/.gitignore
index 7d3915a..e673b29 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,7 +8,9 @@ demo_single_motor (DESKTOP-QL1K6HH's conflicted copy 2022-02-21).spin2
 isp_bldc_motor-OLD.spin2
 isp_bldc_motor-REF.spin2
 test_angle.spin2
+angleTest.spin2
 REF/
+*.txt
 
 
 # VSCode objects to ignore
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..cdf950f
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,13 @@
+{
+  "files.exclude": {
+    "**/.git": true,
+    "**/.svn": true,
+    "**/.hg": true,
+    "**/CVS": true,
+    "**/.DS_Store": true,
+    "**/Thumbs.db": true,
+    "**/.history": true,
+    "**/*.txt": true
+  },
+  "explorerExclude.backup": {}
+}
diff --git a/src/demo_dual_motor_hdmi.spin2 b/src/demo_dual_motor_hdmi.spin2
index 05024f8..506d3e9 100644
--- a/src/demo_dual_motor_hdmi.spin2
+++ b/src/demo_dual_motor_hdmi.spin2
@@ -30,9 +30,9 @@ CON { fixed io pins }
 
 OBJ { our Drive Subsystem }
 
-    user    :   "isp_bldc_motor_userconfig"     ' driver configuration
-    wheels  :   "isp_steering_2wheel"                  ' the dual-drive BLDC motors
-    tvDebug     :   "isp_hdmi_debug"                                ' HDMI debug object
+    user    :   "isp_bldc_motor_userconfig"             ' driver configuration
+    wheels  :   "isp_steering_2wheel"                   ' the dual-drive BLDC motors
+    tvDebug :   "isp_hdmi_debug"                        ' HDMI debug object
 
 DAT { run-time condition vars }
 
diff --git a/src/isp_bldc_motor.spin2 b/src/isp_bldc_motor.spin2
index fb85162..9a7dedb 100644
--- a/src/isp_bldc_motor.spin2
+++ b/src/isp_bldc_motor.spin2
@@ -697,6 +697,7 @@ PUB validBasePinForChoice(userBasePin) : legalBasePin
         PINS_P32_P47 :
         OTHER :
             legalBasePin := INVALID_PIN_BASE
+    debug("*VAL* ", sdec_long(legalBasePin))
 
 PUB validVoltageForChoice(userVoltage) : legalVoltage
 '' VALIDATE users' voltage choice returns legalVoltage or INVALID_VOLTAGE
diff --git a/src/isp_steering_2wheel.spin2 b/src/isp_steering_2wheel.spin2
index d8961ad..d9001cf 100644
--- a/src/isp_steering_2wheel.spin2
+++ b/src/isp_steering_2wheel.spin2
@@ -475,7 +475,7 @@ PUB validMotorForChoice(userMotor) : legalMotor
 
 PUB validDetectModeForChoice(userDetMode) : legalMode
 '' VALIDATE users' detection mode choice returns legalMode or INVALID_DET_MODE
-    legalMode := ltWheel.validMotorForChoice(userDetMode)
+    legalMode := ltWheel.validDetectModeForChoice(userDetMode)
 
 CON { --- PRIVATE Utility Methods --- }
 
diff --git a/src/test_new_ramps.spin2 b/src/test_new_ramps.spin2
index 1d3ee03..d0b7f83 100644
--- a/src/test_new_ramps.spin2
+++ b/src/test_new_ramps.spin2
@@ -37,6 +37,7 @@ OBJ { our Motor(s) }
     user        :   "isp_bldc_motor_userconfig"     ' driver configuration
     'tvDebug :   "isp_hdmi_debug"    ' the single BLDC motor
     'wheel   :   "isp_bldc_motor"    ' the single BLDC motor
+
     distConv    :   "isp_dist_utils"                ' distance conversion utils
 
 CON { driver interface Constants}
@@ -48,7 +49,6 @@ CON { driver interface Constants}
     '  DCS_SLOW_TO_CHG      - motor is slowing down to change direction, then will be SPEEDING_UP
     '  DCS_FAULTED          - motor faulted (couldn't drive to requested speed)
     '  DCS_ESTOP            - motor in emergency stop (external stop requested)
-    '
     #0, DCS_Unknown, DCS_STOPPED, DCS_SPIN_UP, DCS_AT_SPEED, DCS_SPIN_DN, DCS_SLOW_TO_CHG, DCS_FAULTED, DCS_ESTOP
 
 DAT