     else if (logging_flag)
     {
         // Add an entry to the logging buffer
-        sdLogger.addEntry(micros(), requestedThrottle, leftThrottle, rightThrottle, steerAngle, rightRPM);
+        sdLogger.addEntry(globalClock, requestedThrottle, leftThrottle, rightThrottle, steerAngle, rightRPM);
         sdLogger.fastLog();
         logging_flag = false;
     }

* ---------------------------------------------------------------------------- */
void steeringTask(){
    uint16_t steeringPot0;
    float steerAngle;

    steeringPot0 = analogRead(STEERING0_PIN);
    steerAngle = (steeringPot0 - STEERING_CENTER) * RAD_PER_VAL;


IntervalTimer loopTimer;
uint32_t timer = 0;
uint32_t globalClock = 0;

// Runs in an interrupt and sets the flags for our multi-rate main loop
void multiRateISR(){
    
    timer++;
    globalClock++;

    if (timer % THROTTLE_RATE == 0) { throttle_flag = true; }
    if (timer % STEERING_RATE == 0) { steering_flag = true; }
