 
 ros::Subscriber<std_msgs::Int16> conveyorSubscriber("TransportConveyorCommand", &newConveyorCommandCallback);
 
-ros::Subscriber<std_msgs::Int16> bSubscriber("TransportWinchCommand", &newWinchCommandCallback);
+ros::Subscriber<std_msgs::Int16> winchSubscriber("TransportWinchCommand", &newWinchCommandCallback);
 
 
 // Print error message to "sabertooth_debugger" topic

}

void newWinchCommandCallback(const std_msgs::Int16& newWinchCommand){
  if(newWinchCommand.data != 0){
    //currentWinchStatus = START_ROTATING_WINCH;
    //winchRotationTime = newWinchCommand.data;

    if( newWinchCommand.data > 0) {
      driveClockwise(WINCH_MOTOR_ID, WINCH_SPEED_UP);
      delaySeconds((double)newWinchCommand.data);
      driveClockwise(WINCH_MOTOR_ID, 0);
    }
    else {
      driveCounterclockwise(WINCH_MOTOR_ID, WINCH_SPEED_DOWN);
      delaySeconds((double)newWinchCommand.data);
      driveCounterclockwise(WINCH_MOTOR_ID, 0);
    }

  }
}



    delayMicroseconds(15000);
  }
  // Test the winch: 
  /*driveCounterclockwise(WINCH_MOTOR_ID, WINCH_SPEED_DOWN);
  delaySeconds(2.0);
  driveClockwise(WINCH_MOTOR_ID, 0);*/

  /*for(int j = 0; j < 300; j++) {
    delayMicroseconds(15000);
  }*/

  driveClockwise(WINCH_MOTOR_ID, WINCH_SPEED_UP);
  delaySeconds(1.0);
  driveCounterclockwise(WINCH_MOTOR_ID, 0);

}
