 			#endif
 			//run pids at 100Hz
 			if(oneHunHzEvent.shouldRunEvent()) {
+
+			#if defined(DEBUG)
+				Serial.print("100 Hz Event Time: ");
+				Serial.println(micros());
+			#endif
+				//compute PIDS now. 
 				computePID();
 			}
+
+			//update motor values. 
 			updateMotors();
 			
 			#ifdef DEBUG

}

/**
* Copute the next PIDs. 
*/
inline void computePID() {
	acquireLock();

				Update the controls if the update flag was set in the serialEvent1 callback.
			*/
			if(update_flag) {
				//lock in case there are interrupts. 
				acquireLock();
				for(int i = 0; i < BUFFERSIZE; i++) {
					throttle = buffer[0];
