     }
     if(updateFlags & FL_FLAG) {
       FL_count = FL_count_shared;
+      FL_DeltaTime = FL_new_time - FL_old_time;
     }
     if(updateFlags & FR_FLAG) {
       FR_count = FR_count_shared;
+      FR_DeltaTime = FR_new_time - FR_old_time;
     }
     if(updateFlags & BL_FLAG) {
       BL_count = BL_count_shared;
+      BL_DeltaTime = BL_new_time - BL_old_time;
     }
     if(updateFlags & BR_FLAG) {
       BR_count = BR_count_shared;
+      BR_DeltaTime = BR_new_time - BR_old_time;
     }
     // clear shared update flags and turn interrupts back on
     updateFlagsShared = 0;


void Car::incFL() {
  FL_count_shared++;
  updateFlagsShared |= FL_FLAG;
}

void Car::incFR() {
  FR_count_shared++;
  updateFlagsShared |= FR_FLAG;
}

void Car::incBL() {
  BL_count_shared++;
  updateFlagsShared |= BL_FLAG;
}

void Car::incBR() {
  BR_count_shared++;
  updateFlagsShared |= BR_FLAG;
}



    // Motor limits
    // TODO  fix limits?
    const int MOTOR_MAX = 2000;
    const int MOTOR_MIN = 800;
    const int MOTOR_NEUTRAL = 1500;
    const int THETA_CENTER = 1500;
    const int THETA_MAX = 1900;
