     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)abs(conveyorRotationTime);   
+    conveyorStopTime = millis() + (long)conveyorRotationTime*1000;   
     driveConveyor();
     currentConveyorStatus = ROTATING_CONVEYOR;
   }
-  
+
   if(currentConveyorStatus == ROTATING_CONVEYOR){
     if(millis() >= conveyorStopTime){
       stopConveyor();

#include "ExcavatorDriverROS.h"
#include <command2ros/ExcavatorCommand.h>
#include <std_msgs/String.h>


//<---------------- Set Up ------------------------------->

      stopBucketWheel();
    }
    else if(currentExcavatorCommand.excavate_speed < 0){
      bucketStopTime = millis() + (long)(currentExcavatorCommand.excavate_duration);   
      rotateBucketCounterclockwise(-currentExcavatorCommand.excavate_speed);
      excavatorStatus.excavate_speed = currentExcavatorCommand.excavate_speed;
    }
    else if(currentExcavatorCommand.excavate_speed > 0){
      bucketStopTime = millis() + (long)(currentExcavatorCommand.excavate_duration);   
      rotateBucketClockwise(currentExcavatorCommand.excavate_speed);
      excavatorStatus.excavate_speed = currentExcavatorCommand.excavate_speed;
    }
  }
