     float turnDist = TURN_RADIUS_CM * PI / 2 * 10; //turnDist == 1/4 turn circumference in mm
     long turnSec = (long)turnDist / turnSpeed * 1000; //turnSec == time for 90-degree turn at 1250 mm/s
 
+    loopTime = millis();
     while (millis() < (loopTime + turnSec)) {
       Throttle_PID(turnSpeed);
     }

} history;

/*---------------------------------------------------------------------------------------*/
// WheelRev is called by an interrupt pin.
void WheelRev()
{
  //static int flip = 0;

  int turn_signal = convertDeg(results->angle_deg);
  steer(turn_signal);
  //End Steer
  //Throttle
  Throttle_PID(10*results->speed_cmPs);
  //End Throttle
  writeSerial(&Serial3, results);
