   }
 
   if (currentStatus == ARTICULATING) {
-    char msg[] = "articulating";
-    debugMsg.data = msg;
-    pubDebug.publish(&debugMsg);
     
     if (needsToArticulate() == true) {
       articulateAllWheels();

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