   delay(100);
   
   // Decay all motors exponentially towards zero speed.
-  for (size_t motor_idx = 0; motor_idx < NUM_MOTORS; ++motor_idx) {
-    motor[motor_idx]->velocity(motor[motor_idx]->velocity() * 0.9);
-  }
+  //for (size_t motor_idx = 0; motor_idx < NUM_MOTORS; ++motor_idx) {
+  //  motor[motor_idx]->velocity(motor[motor_idx]->velocity() * 0.8);
+  //}
   
   // TODO: move this to another location (e.g. Motor)
   // Send motor status update over USB

  }
}

void testLoop()
{
  // Attempt to create USB connection.
  rgb_led.R(1);
  rgb_led.G(0);
  ((platypus::Winch*)sensor[2])->send(128,6,96);
  delay(1000);
  rgb_led.R(0);
  rgb_led.G(1);
  ((platypus::Winch*)sensor[2])->send(128,6,32);
  delay(1000);
  rgb_led.R(1);
  rgb_led.G(1);
  ((platypus::Winch*)sensor[2])->send(128,6,64);
  delay(1000); 
}



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