 {
     if(messageTimestamp + messageTTL > millis())
     {
-        // TODO - Update pins
+        SetMotorSimple(motor_0, messageData[0]);
+        SetMotorSimple(motor_1, messageData[1]);
+        SetMotorSimple(motor_2, messageData[2]);
+        SetMotorSimple(motor_3, messageData[3]);
     }
     else
     {
-        // TODO - STOP!
+        SetMotorSimple(motor_0, 0);
+        SetMotorSimple(motor_1, 0);
+        SetMotorSimple(motor_2, 0);
+        SetMotorSimple(motor_3, 0);
     }
 
     rosNode.spinOnce();

// **********
// Motor
// **********

void SetMotor(uint8_t pinSpeed, uint8_t pin1, uint8_t pin2, uint8_t speed)
{


uint8_t messageTTL = 100;
uint16_t messageTimestamp = 0;

// Speed Pin, Pin A, Pin B
uint8_t motor_0[] = {3, 4, 5};
uint8_t motor_1[] = {6, 7, 8};
uint8_t motor_2[] = {0, 0, 0};
uint8_t motor_3[] = {0, 0, 0};

// **********
// ROS Messages
