 
   if (currentStatus == ACTUATING) {
     if(needsToActuate(currentExcavatorCommand.excavation_height)){
-       moveToPercent(currentExcavatorCommand.excavation_height);
-       excavatorStatus.excavate_speed = toPercent(currentSteps);
+      moveToPercent(currentExcavatorCommand.excavation_height);
+      excavatorStatus.excavate_speed = toPercent(currentSteps);
     }
     else{
-       currentStatus = START_DIGGING;
+      currentStatus = START_DIGGING;
     }
   }
 

    //TODO: This will never happen right now, may want for competition though
    return;
  } 
  
  //Currently stopped, don't do anything.
  // ASSUMES the robot is stopped when currentStatus is set to STOPPED.
  if (currentStatus == STOPPED) {
    // do nothing
  }

  
  if(currentConveyorStatus == START_ROTATING_CONVEYOR){
    conveyorStopTime = millis() + (long)conveyorRotationTime*1000;   
    driveConveyor();

  delayMicroseconds(1000);
}

// Function to drive the wheels
void driveAllMotors()
{
  if (currentExcavatorCommand.drive_speed < 0){
    for (int i = 0; i < 4; ++i)
    {
       driveForwards(i, -currentExcavatorCommand.drive_speed);
       excavatorStatus.drive_speed = currentExcavatorCommand.drive_speed;
    } 
  }
  else{
    for (int i = 0; i < 4; ++i)
    {
      driveBackwards(i, currentExcavatorCommand.drive_speed);
      excavatorStatus.drive_speed = currentExcavatorCommand.drive_speed;
    } 
  }

  currentStatus = IS_DRIVING;
}


