 
   // Did we spend long enough in the loop that we should immediately
   // start the next pass?
-  Serial.print("Time: "); Serial.print(endTime); Serial.print(", Next: "); Serial.println(nextTime);
+  //Serial.print("Time: "); Serial.print(endTime); Serial.print(", Next: "); Serial.println(nextTime);
   if (nextTime > endTime) {
     // No, pause til the next loop start time.
+    Serial.print("Start Sanity: "); Serial.println(startTime);
+    Serial.print("Const Sanity: "); Serial.println(LOOP_TIME_MS);
+    Serial.print("Next Sanity: "); Serial.println(nextTime);
+    Serial.print("End Sanity: "); Serial.println(endTime);
     Serial.print("Delaying: "); Serial.println(nextTime - endTime);
     delay(nextTime - endTime);
-  } else {
-    // Yes, we overran the expected loop interval. Extend the time.
-    nextTime = endTime + LOOP_TIME_MS;
-  }
+  } 
+//  else {
+//    // Yes, we overran the expected loop interval. Extend the time.
+//    nextTime = endTime + LOOP_TIME_MS;
+//  }
   
-  Serial.println("End of loop");
+  //Serial.println("End of loop");
 }
 /*---------------------------------------------------------------------------------------*/
 void PrintDone()

  // Get the next loop start time.
  unsigned long nextTime = startTime + LOOP_TIME_MS;

  startCapturingRCState();

  unsigned long local_results[7];
  //  PrintDone();

  while (millis() < nextTime &&
         ~((RC_Done[RC_ESTP] == 1) && (RC_Done[RC_GO] == 1) && (RC_Done[RC_TURN] == 1) && (RC_Done[RC_RDR])))
    ;  //wait

  // got data;
  for (int i = 0; i < 8; i++)
    local_results[i] = RC_elapsed[i];
  //Print7(false, local_results);
  Serial.println("Processing RC data...");
  byte automate = processRC(local_results);
  if (automate == 0x01) //remember to tell Pat to fix this, was = instead of ==
  {
    Serial.println("Processing high-level data");
    processHighLevel(&Results);
  }
  //    Print7( true, local_results);

  Serial.println(nextTime);
  Serial.println("Clearing Results");
  Results.Clear();
  Results.kind = MSG_SENSOR;
  Results.angle_deg = TurnAngle_degx10() / 10;

boolean liveBrake(int b)
{
  if (b < 500) return false;
  return (b > (MIDDLE + DEAD_ZONE));
}
/*---------------------------------------------------------------------------------------*/
// Emergency stop
