   }
   driveTimeMillis = (long)(nmc.drive_duration * 1000);
   emergencyStop = nmc.e_stop;
+  
+  if(emergencyStop == true)
+  {
+    char* error = "Setting E-Stop to TRUE.";
+    msg.data = error;
+    pubResults.publish(&msg);  
+  }
+  else
+  {
+    char* error = "Setting E-Stop to FALSE.";
+    msg.data = error;
+    pubResults.publish(&msg);   
+  }
+  
 }
 
 

    else if (((delta > 0) && (delta < 180)) || 
      ((delta + 360) < 180 ))
    {
      if(!currentlyMoving[motorIDX])
      {
        char* error = "Starting motor: X";

        pubResults.publish(&msg);
        driveCounterclockwise(ARTICULATION_SPEED, motorIDX + ARTICULATION_OFFSET);
        driveCounterclockwise(ARTICULATION_DRIVE_SPEED, motorIDX);
        currentlyMoving[motorIDX] = true;
      }

