     }
   }
   // Test the winch.
-  unitTestWinch();
+  //unitTestWinch();
   // Test the conveyor.
-  unitTestConveyor(); 
+  //unitTestConveyor(); 
 }  
   
 void unitTestConveyor()


}

void newConveyorCommandCallback(const std_msgs::Int16& newConveyorCommand){
  if(newConveyorCommand.data != 0){
    currentStatus = START_ROTATING_CONVEYOR;

  wheelStatus.mr_articulation_angle = 180;
  wheelStatus.rl_articulation_angle = 0;
  wheelStatus.rr_articulation_angle = 180;

  wheelOffset.fl_articulation_angle = 0;
  wheelOffset.fr_articulation_angle = 0;
  wheelOffset.ml_articulation_angle = 0;
  wheelOffset.mr_articulation_angle = 0;
  wheelOffset.rl_articulation_angle = 0;
  wheelOffset.rr_articulation_angle = 0;  

  wheelStatus.fl_drive_speed = 0;
  wheelStatus.fr_drive_speed = 0;
