 #include <Wire.h>
 #include <ros.h>
 #include <riptide_msgs/PwmStamped.h>
-#include <riptide_msgs/Thrusters.h>
+#include <std_msgs/Int8.h>
 
 // Thrusters off!
 int STOP = 1500;
 // Checksum size
-int ONE_PACKET = 10;
-int FIVE_BYTES = 5;
+int ONE_BYTE = 1;
 // Addresses
 int ESC_BOARD[] = {1, 2, 4, 8, 16};
 


// ROS is the best
ros::NodeHandle nh;
riptide_msgs::Thrusters state;
ros::Publisher state_pub("state/esc", &state);
ros::Subscriber<riptide_msgs::PwmStamped> cmd_sub("command/pwm", &callback);


{
  // Check msgs for callback
  nh.spinOnce();

  delay(5);
}

// Production ready function
void callback(const riptide_msgs::PwmStamped &cmd)
{
  //
  // Write PWM data & request remote checksums
  //
