 **************************************************************************/
 int saturateMotor(int x) 
 {
-  if (x  == noAction ){
-    return motor_neutral;
-  }
+  if (x  == noAction ){ return motor_neutral; }
   
-  if (x  >  motor_max) {
+  if (x  >  motor_max) { 
     x = motor_max; 
   } 
   else if (x < motor_min) {

  
  // Start ROS node
  nh.initNode();
  nh.subscribe(s);
  
  // initialize ultrasound sensor datatype
  ultrasound.layout.dim = (std_msgs::MultiArrayDimension *) malloc(sizeof(std_msgs::MultiArrayDimension) * 2);
  ultrasound.layout.dim[0].label = "cm";
  ultrasound.layout.dim[0].size = 4;
  ultrasound.layout.dim[0].stride = 4;
  ultrasound.layout.data_offset = 0;
  ultrasound.data = (float *) malloc(sizeof(float)*4);
  ultrasound.data_length = 4;
  
  // Public data to topics
  nh.advertise(pub_ultrasound);
  nh.advertise(pub_encoder);
}



 
// include libraries
#include <ros.h>
#include <barc/Ultrasound.h>
#include <barc/Encoder.h>
#include <barc/ECU.h>
#include <Servo.h>
#include "Maxbotix.h"

