 const double ARTICULATION_DRIVE_SPEED = 6260.0 / 7521.0;
 // This corresponds to the "maximum speed" available to the robot.
 const int MAX_DRIVE_SPEED = 30;
-bool motorInMotion[12];
+bool motorInMotion[15];
 
 //Conveyor and winch system constants
 const char CONVEYOR_SPEED = 20;
 const char WINCH_SPEED = 30;
 
 int conveyorRotationTime = 0;
+long conveyorStopTime = 0;
+int currentConveyorStatus = STOPPED;
+
 int winchRotationTime = 0;
-
-long conveyorStopTime = 0;
 long winchStopTime = 0;
+int currentWinchStatus = STOPPED;
 
 //
 // ROS initialization


void stopWinch(){
  driveCounterclockwise(WINCH_MOTOR_ID, 0);
}



    // do nothing
  }
  
  if (currentStatus == ARTICULATING) {
    print("needs to articulate: true");
    if (needsToArticulate() == true) {
