         
         lastMeasureTime = currentTime;
         velsTimes[velsIndex] = currentTime - BASE_TIME;
-        velsCommandIndexes[velsIndex++] = volComsIndex;
+        velsCommands[velsIndex++] = VOL_COMS[volComsIndex];
       }
     }
   }

 * issue to be explored.
 */
void performTest(const unsigned long RUNTIME, const int VELS_SIZE, int vels[], int velsTimes[], 
                   int velsCommandIndexes[], const int VOL_COMS[], const unsigned long VOL_COM_TIMES[]){
  int velsIndex = 0;
  int volComsIndex = 0;
  boolean commandNow = false;
  boolean measureNow = false;

  const unsigned long BASE_TIME = millis();
  unsigned long currentTime = BASE_TIME;
  unsigned long lastCommandTime = currentTime;
  unsigned long  lastMeasureTime = currentTime;
  
  analogWrite(TEST_PIN, VOL_COMS[volComsIndex]);
  

where TOTAL_TICKS is the number of ticks per revolution, which is approximately 3000.

Author: Ryan J. Marcotte
Date: 18 March 2014
*/

//#####SYSTEM ID PARAMETERS#######
//#####MODIFY THESE FIELDS########
#define TEST_PIN FORWARD_RIGHT //the pin of the motor you are working with (options: FORWARD_RIGHT,
                                  //FORWARD_LEFT, REVERSE_RIGHT, REVERSE_LEFT)
const int TOTAL_VOL_COMS = 20; //the total number of voltage commands to be executed by the robot
                               //increasing beyond ~20, memory can become an issue
                               //if the board runs out of memory, it resets itself which can be 
                               //a challenging bug to diagnose
const int MIN_COM_DUR = 5; //the minimum duration a command could be executed for
