      rpm = 30 * 1000/(millis() - timeold) * half_revolutions;
      timeold = millis();
      half_revolutions = 0;
-     if (is_logging) commander.sendBinCmd(cmd_rpm, rpm);
+     commander.sendBinCmd(cmd_rpm, rpm);
   }
 }
 

#define SONAR_NUM     2 // Number of sensors.
#define MAX_DISTANCE 200 // Maximum distance (in cm) to ping.

bool is_logging = false;

/* Define available CmdMessenger commands */
enum {

    steer_input = pulseIn(STEER_IN, HIGH, 25000);
    throttle_input = pulseIn(THROTTLE_IN, HIGH, 25000);
    //Serial.println(steer_input);
    //Serial.println(throttle_input);

    //toggle red led while waiting to arm
    toggle_LED(LED_RED, true);
