 
 IntervalTimer loopTimer;
 uint32_t timer = 0;
+uint32_t globalClock = 0;
 
 // Runs in an interrupt and sets the flags for our multi-rate main loop
 void multiRateISR(){
     
     timer++;
+    globalClock++;
 
     if (timer % THROTTLE_RATE == 0) { throttle_flag = true; }
     if (timer % STEERING_RATE == 0) { steering_flag = true; }

uint32_t rightRPM = 0;
float omega_vehicle;

float steerAngle;

void setup()
{

    else if (logging_flag)
    {
        // Add an entry to the logging buffer
        sdLogger.addEntry(globalClock, requestedThrottle, leftThrottle, rightThrottle, steerAngle, rightRPM);
        sdLogger.fastLog();
        logging_flag = false;
    }
