 
 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

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

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

{
    if(messageTimestamp + messageTTL > millis())
    {
        SetMotorSimple(motor_0, messageData[0]);
        SetMotorSimple(motor_1, messageData[1]);
        SetMotorSimple(motor_2, messageData[2]);
        SetMotorSimple(motor_3, messageData[3]);
    }
    else
    {
        SetMotorSimple(motor_0, 0);
        SetMotorSimple(motor_1, 0);
        SetMotorSimple(motor_2, 0);
        SetMotorSimple(motor_3, 0);
    }

    rosNode.spinOnce();
