 int C1bot = A1;
 int C2bot = A2;
 int C3bot = A3;
+
 //Hall effect sensors
 int ha1 = 2;
 int ha2 = A5;

	// publish command saying that we are adjusting
	std_msgs::String str;
	str.data = "adjusting";
	state_pub.publish(&str);

	// Get motor speed A, B, and C from the message
	double motorSpeedA = cmd_msg.x;
	double motorSpeedB = cmd_msg.y;
	double motorSpeedC = cmd_msg.z;

	// Set each motor speed, verification done in setting motor speed
	setMotorSpeed(MotorA, motorSpeedA);
	setMotorSpeed(MotorB, motorSpeedB);
	setMotorSpeed(MotorC, motorSpeedC);

	// publish command alerting the master system that we are ready
	//  std_msgs::String str;
	str.data = "ready";
	state_pub.publish(&str);
}

ros::Subscriber<geometry_msgs::Vector3> motor_sub("launcher/motor_vel/", motor_controls_cb);

void setup(){
	//Pinmodes for the motor's PWM

#include <std_msgs/String.h>
#include <std_msgs/Bool.h>

#include <PID_v1.h>



//Pin definitions
//Motor stuff, enum class
int MotorA = 67;
int MotorB = 68;
int MotorC = 69;


int A1top = 3;
int A2top = 4;
int A3top = 5;
