     // Negate the first if condition and use DeMorgan's laws...
     // Now pick out the "nextTime rolled over" case. We don't need to test both
     // nextTime and endTime as we know only one rolled over.)
-    if (nextTime < LOOP_TIME_US) {
-      // 2) nextTime rolled over when we incremented it, but the micros() timer
+    if (nextTime < LOOP_TIME_MS) {
+      // 2) nextTime rolled over when we incremented it, but the millis() timer
       // hasn't yet rolled over.
       // In this case, we know we didn't exhaust the loop time, and the time we
-      // need to wait is the remaining time til micros() will roll over, i.e.
+      // need to wait is the remaining time til millis() will roll over, i.e.
       // from endTime until the max long value, plus the time from zero to
       // nextTime.
       delayTime = ULONG_MAX - endTime + nextTime;

  // @ToDo: Is this working and should it be uncommented?
  // show_speed (&Results);

  // @ToDo: Remove all test or calibration code. If needed, put it in a separate file.
  //calibrationTime_ms += LOOP_TIME_US;
  //straightTime_ms = (steer_control == STRAIGHT_TURN_OUT) ? straightTime_ms + LOOP_TIME_US : 0;
  //stoppedTime_ms = (throttle_control == MIN_ACC_OUT) ? stoppedTime_ms + LOOP_TIME_US : 0;
  //if (calibrationTime_ms > 40000 && straightTime_ms > 3000 && stoppedTime_ms > 3000)
  //{
  //  //       int oldBrake = brake_control;
  //  //       brake(MAX_BRAKE_OUT);  // put on brakes
  //  CalibrateTurnAngle(16, 10);  // WARNING: No response to controls while calibrating
  //  //       brake(oldBrake);       // restore brake state
  //  calibrationTime_ms = 0;
  //}

  // @ToDo: What information do we need to send to C6? Is that communication already
  // hiding in here somewhere, or does it need to be added?

  // point, there should be *no* more controller activity -- we want
  // minimal time between now, when we capture the actual loop end time,
  // and when we pause til the desired loop end time.
  endTime = millis();
  delayTime = 0L;

  // Did the millis() counter or nextTime overflow and roll over during
  // this loop pass? Did the loop's processing time overrun the desired
  // loop period? We have different computations for the delay time in
  // various cases:
  if ((nextTime >= endTime) &&
      (((endTime < LOOP_TIME_MS) && (nextTime < LOOP_TIME_MS)) ||
       ((endTime >= LOOP_TIME_MS) && (nextTime >= LOOP_TIME_MS)))) {
    // 1) Neither millis() nor nextTime rolled over --or-- millis() rolled
    // over *and* nextTime rolled over when we incremented it. For this case,
    // endTime and nextTime will be in their usual relationship, with
    // nextTime >= endTime, and both nextTime and endTime are either greater
