     delayMicroseconds(15000);
   }
 
-  // loop through and test all wheels
+  // loop through and test all drive motors:
+  // 1.5s clockwise, then 1.5s counterclockwise.
   for(int i = 0; i < 6; i++){
     // clockwise
     driveClockwise(i, 20);

      delayMicroseconds(15000);
    }
  }
}

void unitTest2(){

    }
  }

  // Test all articulation motors:
  // 1.5s clockwise, then 1.5s counterclockwise.
  for(int i = 6; i < 12; ++i){
    // clockwise
    driveClockwise(i, 30);
