     }
     if(updateFlags & FL_FLAG) {
       FL_count = FL_count_shared;
+      FL_DeltaTime = FL_new_time - FL_old_time;
     }
     if(updateFlags & FR_FLAG) {
       FR_count = FR_count_shared;
+      FR_DeltaTime = FR_new_time - FR_old_time;
     }
     if(updateFlags & BL_FLAG) {
       BL_count = BL_count_shared;
+      BL_DeltaTime = BL_new_time - BL_old_time;
     }
     if(updateFlags & BR_FLAG) {
       BR_count = BR_count_shared;
+      BR_DeltaTime = BR_new_time - BR_old_time;
     }
     // clear shared update flags and turn interrupts back on
     updateFlagsShared = 0;

    void incBL();
    void calcThrottle();
    void calcSteering();
    void killMotor();
  private:
    // Pin assignments

barc::ECU ecu;
barc::ECU rc_inputs;
barc::Encoder encoder;
barc::Encoder vel_est;

ros::NodeHandle nh;

ros::Publisher pub_encoder("encoder", &encoder);
ros::Publisher pub_vel_est("vel_est", &vel_est); 
ros::Publisher pub_rc_inputs("rc_inputs", &rc_inputs);
ros::Subscriber<barc::ECU> sub_ecu("ecu_pwm", ecuCallback);

