 
   if (speed < 0) {
     speed = speed * -50;
-    //driveClockwise(motorID, speed);
+    driveClockwise(motorID, speed);
   } 
   else {
     speed = speed * 50;

// This program does whatever ROS directs it to do.
// So far, it drives the robot forwards and backwards.
void loop(){
  //We are E-Stopped, don't respond to future commands.
  if (currentStatus == E_STOPPED) {
    //TODO: This will never happen right now, may want for competition though

  }

  if (currentStatus == START_DRIVING) {
   
    //TODO: Check with MEs about possibility of losing correct articulation (by going over an obstacle or something)

    //Check if we need to articulate
