     delay(500);                 // Should be 360 + coast degrees for the motor.
   }
 }
+#endif
+
+#ifdef COMPONENT_TEST_MOTOR_TIME
+void component_test_motor_time(Motor* motor) {
+  for (int i = 0; i < 20; i++) {
+    motor->deg = 0;
+    unsigned long t_start = millis();
+    motor_turn_deg(motor, 360, COUNTERCLOCKWISE);
+    unsigned long t_end = millis();
+    if (motor->deg < 360) {
+      Serial.println("ERROR");
+      exit(0);
+    }
+
+    Serial.println(t_end-t_start);
+    delay(1000);
+  }
+}
+#endif
+

/*****************************
   COMPONENT TESTING METHODS
 *****************************/

void component_test_motor_coast(Motor* motor) {
  for (int i = 0; i < 20; i++) {
    motor->deg = 0;

//#define COMPONENT_TEST_MOTOR_COAST
//#define COMPONENT_TEST_MOTOR_TIME
//#define KILLALL // Uncomment this to kill the system, and stop all components

#define MOTOR_1_PIN 12
#define MOTOR_2_PIN 11
