     // Negate the first if condition and use DeMorgan's laws...
     // Now pick out the "nextTime rolled over" case. We don't need to test both
     // nextTime and endTime as we know only one rolled over.)
-    if (nextTime < LOOP_TIME_US) {
-      // 2) nextTime rolled over when we incremented it, but the micros() timer
+    if (nextTime < LOOP_TIME_MS) {
+      // 2) nextTime rolled over when we incremented it, but the millis() timer
       // hasn't yet rolled over.
       // In this case, we know we didn't exhaust the loop time, and the time we
-      // need to wait is the remaining time til micros() will roll over, i.e.
+      // need to wait is the remaining time til millis() will roll over, i.e.
       // from endTime until the max long value, plus the time from zero to
       // nextTime.
       delayTime = ULONG_MAX - endTime + nextTime;

#define RC_NUM_SIGNALS 7
volatile unsigned long RC_rise[RC_NUM_SIGNALS];
volatile unsigned long RC_elapsed[RC_NUM_SIGNALS];
// We'll copy values here before using them in an attempt to have the
// values change while we're using them.
unsigned long local_results[RC_NUM_SIGNALS];
// This tells us when we have started receiving RC data. Until then, we
// ignore RC_rise and RC_elapsed.
volatile bool RC_Done[RC_NUM_SIGNALS];

      // nextTime < endTime -or-
      // nextTime >= endTime -and- nextTime did not roll over but endTime did.)
      // What remains are these two cases:
      // 3) nextTime hasn't rolled over, but millis() has.
      // In this case, we overran the loop time. Since millis() has rolled over,
      // we can just use the normal overrun fixup. So combine this with...
      // 4) Neither nextTime nor millis rolled over, but we overran the desired
      // loop period.
      // In this case, we have no delay, but instead extend the allowed time for
      // this loop pass to the actual time it took.
