    else
      digitalWrite(CruiseLED, LOW);
 
-  checkReverse();  
+  checkReverse();  //Logic to handle the reverse button.
 #endif  // TEST_MODE 
  // TODO: Check out loop speed;
  // make loop faster

      Instrument[Brakes].StickMoved =  TRUE;
      Stop = FALSE;
    }

    stick = 511; // 1023 - analogRead(SteerJoystick);
    if (stick > tinyDown && stick <= tinyUp)
    {
      Instrument[Steering].Joystick = Straight;

  static unsigned long EndTime = 0;
  static unsigned long OutsideTime;
  
//Calculate how much time was spent outside the loop
  OutsideTime = EndTime - TimeNow;
//Read the user inputs for the enable switches
  Instrument[Motor].Enabled = digitalRead(EnableMotor);
  Instrument[Brakes].Enabled = digitalRead(EnableBrake);
  Instrument[Steering].Enabled = digitalRead(EnableSteer);
