     break;
   }
   
-  // Send system status updates while connected to server.
+  // Send status updates while connected to server.
   if (system_state == RUNNING)
   {
     // TODO: move this to another location (e.g. Motor)

      motor[1]->velocity(), motor[1]->current()
    );
    send(output_buffer);
    
    // TODO: Remove this hack
    // Send encoder status update over USB
    long pos = ((platypus::Winch*)sensor[2])->position();

  if (!adk.isReady())
  {
    // If not connected to USB, we are 'DISCONNECTED'.
    if (system_state != DISCONNECTED)
    {
      Serial.println("STATE: DISCONNECTED");
      system_state = DISCONNECTED;
    }
    
    // Wait for USB connection again.
    yield();
