   ComputeSpeed (&history);
   //   PrintSpeed(&history);
 
-  Odometer_m += (float)(LOOP_TIME_MS * SpeedCyclometer_mmPs) / MEG;
+  Odometer_m += (float)(LOOP_TIME_US * SpeedCyclometer_mmPs) / MEG;
   // Since Results have not been cleared, angle information will also be sent.
   Results->speed_cmPs = SpeedCyclometer_mmPs / 10;
   writeSerial(&Serial3, Results);  // Send speed to C6

int max_rc = MAX_RC;
int mid = MIDDLE;
int min_rc = MIN_RC;
#define LED_PIN_OUT 16
//==========================================================================================
void ISR_TURN_rise() {
  noInterrupts();
  ProcessRiseOfINT(RC_TURN);
  attachInterrupt(digitalPinToInterrupt(IRPT_TURN), ISR_TURN_fall, FALLING);

{
  return (acc > MIDDLE + DEAD_ZONE);
}
boolean doRoutine(int acc){
  if(acc < 800) return false;
  return (acc < MIN_RC + DEAD_ZONE);
}
