 } history;
 
 /*---------------------------------------------------------------------------------------*/
-// WheelRev is called by an interrupt pin.
+// WheelRev is called by an interrupt.
+// This is all WAY TOO LONG for an interrupt
 void WheelRev()
 {
   //static int flip = 0;

  steer(STRAIGHT_TURN_OUT);
  brake(MAX_BRAKE_OUT);
  moveVehicle(MIN_ACC_OUT);
  setup7seg();    // Initialize 7 segment display for speedometer
  delay(500);   // let vehicle stabilize
  //brake(MIN_BRAKE_OUT);
  Serial.begin(9600);

    processHighLevel(&Results);
  //    Print7( true, local_results);

  Results.Clear();
  Results.kind = MSG_SENSOR;
  Results.angle_deg = TurnAngle_degx10() / 10;
  //show_speed (&Results);

  // Report how long the loop took.
  unsigned long endTime = micros();
