   if (currentStatus == IS_DRIVING) {
     if (millis() >= driveStopTime) {
       print("over time limit: stop driving");
-      stopAllMotors(false);
+      stopMovementMotors();
     }
   }
 


  if (EStop == true) {
    currentStatus = E_STOPPED;
  } 
  else {
    currentStatus = STOPPED;
  }

  //Stop all motors 
  const int speed = 0;
  for(int motorID = 0; motorID <= 11; ++motorID) {
    driveClockwise(motorID, speed);
  }

}

void driveConveyor(){
  if(conveyorRotationTime < 0){

  }
  
  if(currentWinchStatus == START_ROTATING_WINCH){
    winchStopTime = millis() + (long)abs(winchRotationTime);   
    driveWinch();
    currentWinchStatus = ROTATING_CONVEYOR;
  }
