   // Number of bytes received from USB.
   uint32_t bytes_read = 0;
   
-  yield();
-  return;
-  
+  // Do USB bookkeeping.
   Usb.Task();
   
   // Shutdown system if not connected to USB.

/**
 * Reads from serial debugging console and attempts to execute commands.
 */
void serialDebugLoop()
{
  // Index to last character in debug buffer.
  static size_t debug_buffer_idx = 0;

/**
 * Decays motor velocity exponentially in case of communications loss.
 */
void motorUpdateLoop()
{
  // Only run while connected via USB.
  if (!adk.isReady()) {
