                      String(daqTelemetry->systemCurrent) + "," +
                      String(outputDistance) + "," +
                      logs + "," +
-                     (millis() / 1000.0 );
+                     ( (millis() / clockCorrection) / 1000.0 );
   Serial.println(daqString);
 }
 

  if(useRef == true){
    //generating an offset based off of the reference voltage sent from motor controller
    double referenceVoltage = analogRead(referencePin);
    voltageOffset = int(realReference - referenceVoltage);
  }  
  else{
    voltageOffset = 0;
  }
  
  //Motor Calculations
  double encoderVoltage = ( analogRead(encoderPin) + voltageOffset ) * 0.0049; //.0049 convert to real voltage values
  double scaledVoltage = encoderVoltage - scaleOffset;
  double finalRpm = scaledVoltage * rpmMultiplier;
  
  if((scaledVoltage < -1.5) && (scaledVoltage > -2.0)){  
    finalRpm = -1000.0;  }
  else if (scaledVoltage < -2.0){
    finalRpm = 0.0;
  }
  else if (scaledVoltage > 1.5){
    finalRpm = 1000;  }
    
  //System Voltage Calculations
  double inputV = analogRead(voltagePin) + voltageOffset;
  double finalV = inputV * voltageMultiplier;
  
  //System Current Calculations
  double inputI = analogRead(currentPin) + voltageOffset;
  double finalI = inputI * currentMultiplier;

  //Distance Calculations
  int irPin = directionOfTravel == '0' ? backIrPin : frontIrPin;
  double distance = ir_distance(irPin, voltageOffset);


 //assigning values to daqTelemetry object  


/**
   Quick conversion that relies on the offset of the character '0'
   @param c: character to be encoded
*/


/**
   Computes the distance from "WALL-E" (a distance sensor)
   @param irPin: The pin at which to access the distance sensor
*/
double ir_distance(int irPin, int voltageOffset)
